Extension of a plan-based component manager for real time adaptation
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Goldhoorn, Matthias (University of Bremen, Robotics Research Group, Germany)
Joyeux, Sylvain (DFKI GmbH - Robotics Innovation Center, Germany)
Abstract:
The ability to reconfigure running component networks in a robust manner is the next challenge in robotic software frameworks. As robots are expected to become more versatile, it is important to be able to pick the right tool for the job. On the basis of the current goal and situation, and to transition between these “tools” in a manner that does not jeopardize the system operations.In this paper, a concept for an extension of a model-based component manager is presented. The focus lies on the functionality to handle realtime network switching. Following our concecpt, the modeling of the transition times, as well as the ability in fine to switch in a hard-realtime manner can be resolved.