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UBC Theses and Dissertations
A software framework for developing high quality control systems for autonomous robots Lahey, Darrell M.
Abstract
This thesis presents a software framework and distributed execution system that allows developers to create control systems for autonomous robots. These control systems are behavior-based, and developers define them using networks of software components. The systems allow sequencing of behavior execution without coupling task sequencers with specific behaviors, and they allow groups of behaviors to be managed as single, cohesive, units. The presented software framework leverages the computational power of the Java programming language, while shielding developers from network communication details. In addition, it facilitates the development of high quality control systems, where quality refers to system usefulness and development ease. The presented software framework supports the functionality required to create control systems that allow robots to perform human-like tasks in environments inhabited by humans. Most importantly, it supports both deliberation and reactivity, along with task sequencing and the coordination of action requests. A navigation system for a simulated mobile robot, developed using this software framework, shows the usefulness of the framework and execution system. The framework does show weaknesses, however, in areas such as robustness, efficiency, and synchronization. Nonetheless, these weaknesses can be overcome, and the software framework and execution system, as a whole, show great potential.
Item Metadata
Title |
A software framework for developing high quality control systems for autonomous robots
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
2003
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Description |
This thesis presents a software framework and distributed execution system that
allows developers to create control systems for autonomous robots. These control systems
are behavior-based, and developers define them using networks of software components.
The systems allow sequencing of behavior execution without coupling task sequencers with
specific behaviors, and they allow groups of behaviors to be managed as single, cohesive,
units. The presented software framework leverages the computational power of the Java
programming language, while shielding developers from network communication details.
In addition, it facilitates the development of high quality control systems, where quality
refers to system usefulness and development ease.
The presented software framework supports the functionality required to create control
systems that allow robots to perform human-like tasks in environments inhabited by
humans. Most importantly, it supports both deliberation and reactivity, along with task
sequencing and the coordination of action requests. A navigation system for a simulated
mobile robot, developed using this software framework, shows the usefulness of the framework
and execution system. The framework does show weaknesses, however, in areas such
as robustness, efficiency, and synchronization. Nonetheless, these weaknesses can be overcome,
and the software framework and execution system, as a whole, show great potential.
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Extent |
7914916 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-11-17
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0051658
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
2004-05
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.