Nothing Special   »   [go: up one dir, main page]

Skip to main content

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 30))

Summary

This Chapter describes Orca: an open-source project which applies Component-Based Software Engineering principles to robotics. It provides the means for defining and implementing interfaces such that components developed independently are likely to be inter-operable. In addition it provides a repository of free re-useable components. Orca attempts to be widely applicable by imposing minimal design constraints. This Chapter describes lessons learned while using Orca and steps taken to improve the framework based on those lessons. Improvements revolve around middleware issues and the problems encountered while scaling to larger distributed systems. Results are presented from systems that were implemented.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. R. Bonasso, R. Firby, E. Gat, D. Kortenkamp, D. Miller, and M. Slack, Experiences with an architecture for intelligent, reactive agents, Journal of Experimental and Theoretical AI (1997).

    Google Scholar 

  2. A. Brooks, T. Kaupp, A. Makarenko, S. Williams, and A. Oreback, Towards component-based robotics, Proc. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2005.

    Google Scholar 

  3. D. Blevins, Overview of the enterprise JavaBeans component model, Component-based software engineering: putting the pieces together, Addison-Wesley, 2001.

    Google Scholar 

  4. A. Brooks, A. Makarenko, and B. Upcroft, Gaussian process models for indoor and outdoor sensor-centric localisation, submitted to International Journal of Computer Vision (2005).

    Google Scholar 

  5. H. Bruyninckx, Open robot control software: the OROCOS project, IEEE International Conference on Robotics and Automation (ICRA’01), vol. 3, 2001, pp. 2523–2528.

    Google Scholar 

  6. Brugali, D. and Brooks, A. and Cowley, A. and Côté, C. and Domnguez-Brito, A.C. and Létourneau, D. and Michaud, F. and Schlegel, C. Trends in Component-Based Robotics, In D. Brugali (Ed.) Software Engineering for Experimental Robotics, Spinger STAR series, 2006

    Google Scholar 

  7. M. W. M. G. Dissanayake, P. M. Newman, H. F. Durrant-Whyte, S. Clark, and M. Csobra, A solution to the simultaneous localization and map building (SLAM) problem, IEEE Transactions on Robotic and Automation (2001), 229–241.

    Google Scholar 

  8. T. Ewald, Overview of COM+, Component-based software engineering: putting the pieces together, Addison-Wesley, 2001.

    Google Scholar 

  9. B. Gerkey, R. Vaughan, and A. Howard, The player/stage project: Tools for multi-robot and distributed sensor systems, Proc. Intl. Conf. on Advanced Robotics, 2003, pp. 317–323.

    Google Scholar 

  10. M. Henning, A new approach to object-oriented middleware, IEEE Internet Computing 8 (2004), no. 1, 66–75.

    Article  Google Scholar 

  11. M. Henning and S. Vinoski, Advanced CORBA programming with c++, Addison-Wesley, 1999.

    Google Scholar 

  12. G. Mathews, A. Makarenko, and H. Durrant-Whyte, Information-based decentralised exploration for multiple robots, Submitted to Proc. IEEE Intl. Conf. on Robotics and Automation, 2006.

    Google Scholar 

  13. R. Sutton and A. Barto, Reinforcement learning: An introduction, MIT Press, Cambridge MA, 1998.

    Google Scholar 

  14. C. Szyperski, Component software-beyond object-oriented programming, Addison-Wesley / ACM Press, 2002.

    Google Scholar 

  15. S. Thrun, Particle filters in robotics, Proceedings of the 17th Annual Conference on Uncertainty in AI (UAI), 2002.

    Google Scholar 

  16. B. Upcroft, L. Ong, S. Kumar, M. Ridley, T. Bailey, S. Sukkarieh, and H. Durrant-Whyte, Rich probabilistic representations for bearing only decentralised data fusion, Proc. IEEE Intl. Conf. on Information Fusion, 2005.

    Google Scholar 

  17. Vaughan, R.T. and Gerkey, B.P., Reusable Robot Software and the Player/Stage Project, In D. Brugali (Ed.) Software Engineering for Experimental Robotics, Spinger STAR series, 2006

    Google Scholar 

  18. N. Wang, D. Schmidt, and C. O’Ryan, Overview of the CORBA component model, Component-based software engineering: putting the pieces together, Addison-Wesley, 2001.

    Google Scholar 

  19. G. Mathews and H. Durrant-Whyte, Scalable Decentralised Control for Multi-Platform Reconnaissance and Information Gathering Tasks, Proc. Intl. Conf. on Information Fusion, 2006.

    Google Scholar 

  20. A. Brooks, B. Upcroft, and A. Makarenko, Gaussian Process Models for Sensor-Centric Localisation, Proc. IEEE Intl. Conf. on Robotics and Automation, 2006.

    Google Scholar 

  21. B. Upcroft, M. Ridley, L.L. Ong, B. Douillard, T. Kaupp, S. Kumar, T. Bailey, F. Ramos, A. Makarenko, A. Brooks, S. Sukkarieh, and H.F. Durrant-Whyte, Multilevel State Estimation in an Outdoor Decentralised Sensor Network, 10th International Symposium on Experimental Robotics, 2006.

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2007 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Brooks, A., Kaupp, T., Makarenko, A., Williams, S., Orebäck, A. (2007). Orca: A Component Model and Repository. In: Brugali, D. (eds) Software Engineering for Experimental Robotics. Springer Tracts in Advanced Robotics, vol 30. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-68951-5_13

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-68951-5_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-68949-2

  • Online ISBN: 978-3-540-68951-5

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics