ADE: A Framework for Robust Complex Robotic Architectures

摘要

Robots that can interact naturally with humans require the integration and coordination of many different components with heavy computational demands. We argue that an architecture framework with facilities for dynamic, reliable, fault-recovering, remotely accessible, distributed computing is needed for the development and operation of applications that support and enhance human activities and capabilities. We describe a robotic architecture development system, called ADE, that is built on top of a multi-agent system in order to provide all of the above features. Specifically, we discuss support for autonomic computing in ADE, briefly comparing it to related features of other commonly used robotic systems. We also report our experiences with ADE in the development of an architecture for an intelligent robot assistant and provide experimental results demonstrating the system's utility