Relevant bibliographies by topics / Robotics, software architecture, SLAM

Academic literature on the topic 'Robotics, software architecture, SLAM'

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Published: 9 March 2023
Last updated: 10 March 2023

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Journal articles on the topic "Robotics, software architecture, SLAM"

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Mamri, Ayoub, Mohamed Abouzahir, Mustapha Ramzi, and Rachid Latif. "ORB-SLAM accelerated on heterogeneous parallel architectures." E3S Web of Conferences 229 (2021): 01055. http://dx.doi.org/10.1051/e3sconf/202122901055.

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SLAM algorithm permits the robot to cartography the desired environment while positioning it in space. It is a more efficient system and more accredited by autonomous vehicle navigation and robotic application in the ongoing research. Except it did not adopt any complete end-to-end hardware implementation yet. Our work aims to a hardware/software optimization of an expensive computational time functional block of monocular ORB-SLAM2. Through this, we attempt to implement the proposed optimization in FPGA-based heterogeneous embedded architecture that shows attractive results. Toward this, we adopt a comparative study with other heterogeneous architecture including powerful embedded GPGPU (NVIDIA Tegra TX1) and high-end GPU (NVIDIA GeForce 920MX). The implementation is achieved using high-level synthesis-based OpenCL for FPGA and CUDA for NVIDIA targeted boards.
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Mihálik, Michal, Branislav Malobický, Peter Peniak, and Peter Vestenický. "The New Method of Active SLAM for Mapping Using LiDAR." Electronics 11, no. 7 (March 30, 2022): 1082. http://dx.doi.org/10.3390/electronics11071082.

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In this article, we propose a new approach to addressing the issue of active SLAM. In this design, we used the already functional SLAM algorithm, which we modified for our case. Matlab was used as the main software tool. All proposed methods were experimentally verified on a mobile robotic system. We used LiDAR as the primary sensor. After mapping the environment, we created a grid map. The grid map may be used for the navigation of the mobile robotic system, but the navigation and control of the mobile robotic system are not involved in this article. The result of the whole process is an autonomous mapping of the environment.
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Song, Jooeun, and Joongjin Kook. "Mapping Server Collaboration Architecture Design with OpenVSLAM for Mobile Devices." Applied Sciences 12, no. 7 (April 5, 2022): 3653. http://dx.doi.org/10.3390/app12073653.

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SLAM technology, which is used for spatial recognition in autonomous driving and robotics, has recently emerged as an important technology to provide high-quality AR contents on mobile devices due to the spread of XR and metaverse technologies. In this paper, we designed, implemented, and verified the SLAM system that can be used on mobile devices. Mobile SLAM is composed of a stand-alone type that directly performs SLAM operation on a mobile device and a mapping server type that additionally configures a mapping server based on FastAPI to perform SLAM operation on the server and transmits data for map visualization to a mobile device. The mobile SLAM system proposed in this paper mixes the two types in order to make SLAM operation and map generation more efficient. The stand-alone type of SLAM system was configured as an Android app by porting the OpenVSLAM library to the Unity engine, and the map generation and performance were evaluated on desktop PCs and mobile devices. The mobile SLAM system in this paper is an open-source project, so it is expected to help develop AR contents based on SLAM in a mobile environment.
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Hastürk, Özgür, and Aydan M. Erkmen. "DUDMap: 3D RGB-D mapping for dense, unstructured, and dynamic environment." International Journal of Advanced Robotic Systems 18, no. 3 (May 1, 2021): 172988142110161. http://dx.doi.org/10.1177/17298814211016178.

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Simultaneous localization and mapping (SLAM) problem has been extensively studied by researchers in the field of robotics, however, conventional approaches in mapping assume a static environment. The static assumption is valid only in a small region, and it limits the application of visual SLAM in dynamic environments. The recently proposed state-of-the-art SLAM solutions for dynamic environments use different semantic segmentation methods such as mask R-CNN and SegNet; however, these frameworks are based on a sparse mapping framework (ORBSLAM). In addition, segmentation process increases the computational power, which makes these SLAM algorithms unsuitable for real-time mapping. Therefore, there is no effective dense RGB-D SLAM method for real-world unstructured and dynamic environments. In this study, we propose a novel real-time dense SLAM method for dynamic environments, where 3D reconstruction error is manipulated for identification of static and dynamic classes having generalized Gaussian distribution. Our proposed approach requires neither explicit object tracking nor object classifier, which makes it robust to any type of moving object and suitable for real-time mapping. Our method eliminates the repeated views and uses consistent data that enhance the performance of volumetric fusion. For completeness, we compare our proposed method using different types of high dynamic dataset, which are publicly available, to demonstrate the versatility and robustness of our approach. Experiments show that its tracking performance is better than other dense and dynamic SLAM approaches.
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Goertzel, Ben, David Hanson, and Gino Yu. "A Software Architecture for Generally Intelligent Humanoid Robotics." Procedia Computer Science 41 (2014): 158–63. http://dx.doi.org/10.1016/j.procs.2014.11.099.

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Cañas Plaza, José María, Jesús Ruiz Ayúcar, Carlos Agüero Durán, and Francisco Martín Rico. "Jde-neoc: component oriented software architecture for robotics." Journal of Physical Agents (JoPha) 1, no. 1 (2007): 1–6. http://dx.doi.org/10.14198/jopha.2007.1.1.01.

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Medvidovic, Nenad, Hossein Tajalli, Joshua Garcia, Ivo Krka, Yuriy Brun, and George Edwards. "Engineering Heterogeneous Robotics Systems: A Software Architecture-Based Approach." Computer 44, no. 5 (May 2011): 62–71. http://dx.doi.org/10.1109/mc.2010.368.

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Khosoussi, Kasra, Matthew Giamou, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake, and Jonathan P. How. "Reliable Graphs for SLAM." International Journal of Robotics Research 38, no. 2-3 (January 22, 2019): 260–98. http://dx.doi.org/10.1177/0278364918823086.

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Estimation-over-graphs (EoG) is a class of estimation problems that admit a natural graphical representation. Several key problems in robotics and sensor networks, including sensor network localization, synchronization over a group, and simultaneous localization and mapping (SLAM) fall into this category. We pursue two main goals in this work. First, we aim to characterize the impact of the graphical structure of SLAM and related problems on estimation reliability. We draw connections between several notions of graph connectivity and various properties of the underlying estimation problem. In particular, we establish results on the impact of the weighted number of spanning trees on the D-optimality criterion in 2D SLAM. These results enable agents to evaluate estimation reliability based only on the graphical representation of the EoG problem. We then use our findings and study the problem of designing sparse SLAM problems that lead to reliable maximum likelihood estimates through the synthesis of sparse graphs with the maximum weighted tree connectivity. Characterizing graphs with the maximum number of spanning trees is an open problem in general. To tackle this problem, we establish several new theoretical results, including the monotone log-submodularity of the weighted number of spanning trees. We exploit these structures and design a complementary greedy–convex pair of efficient approximation algorithms with provable guarantees. The proposed synthesis framework is applied to various forms of the measurement selection problem in resource-constrained SLAM. Our algorithms and theoretical findings are validated using random graphs, existing and new synthetic SLAM benchmarks, and publicly available real pose-graph SLAM datasets.
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Alsadik, Bashar, and Samer Karam. "The Simultaneous Localization and Mapping (SLAM)-An Overview." Journal of Applied Science and Technology Trends 2, no. 04 (November 18, 2021): 120–31. http://dx.doi.org/10.38094/jastt204117.

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Positioning is a need for many applications related to mapping and navigation either in civilian or military domains. The significant developments in satellite-based techniques, sensors, telecommunications, computer hardware and software, image processing, etc. positively influenced to solve the positioning problem efficiently and instantaneously. Accordingly, the mentioned development empowered the applications and advancement of autonomous navigation. One of the most interesting developed positioning techniques is what is called in robotics as the Simultaneous Localization and Mapping SLAM. The SLAM problem solution has witnessed a quick improvement in the last decades either using active sensors like the RAdio Detection And Ranging (Radar) and Light Detection and Ranging (LiDAR) or passive sensors like cameras. Definitely, positioning and mapping is one of the main tasks for Geomatics engineers, and therefore it's of high importance for them to understand the SLAM topic which is not easy because of the huge documentation and algorithms available and the various SLAM solutions in terms of the mathematical models, complexity, the sensors used, and the type of applications. In this paper, a clear and simplified explanation is introduced about SLAM from a Geomatical viewpoint avoiding going into the complicated algorithmic details behind the presented techniques. In this way, a general overview of SLAM is presented showing the relationship between its different components and stages like the core part of the front-end and back-end and their relation to the SLAM paradigm. Furthermore, we explain the major mathematical techniques of filtering and pose graph optimization either using visual or LiDAR SLAM and introduce a summary of the deep learning efficient contribution to the SLAM problem. Finally, we address examples of some existing practical applications of SLAM in our reality.
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Alsadik, Bashar, and Samer Karam. "The Simultaneous Localization and Mapping (SLAM)-An Overview." Surveying and Geospatial Engineering Journal 2, no. 01 (May 18, 2021): 01–12. http://dx.doi.org/10.38094/sgej1027.

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Positioning is a need for many applications related to mapping and navigation either in civilian or military domains. The significant developments in satellite-based techniques, sensors, telecommunications, computer hardware and software, image processing, etc. positively influenced to solve the positioning problem efficiently and instantaneously. Accordingly, the mentioned development empowered the applications and advancement of autonomous navigation. One of the most interesting developed positioning techniques is what is called in robotics as the Simultaneous Localization and Mapping SLAM. The SLAM problem solution has witnessed a quick improvement in the last decades either using active sensors like the RAdio Detection And Ranging (Radar) and Light Detection and Ranging (LiDAR) or passive sensors like cameras. Definitely, positioning and mapping is one of the main tasks for Geomatics engineers, and therefore it's of high importance for them to understand the SLAM topic which is not easy because of the huge documentation and algorithms available and the various SLAM solutions in terms of the mathematical models, complexity, the sensors used, and the type of applications. In this paper, a clear and simplified explanation is introduced about SLAM from a Geomatical viewpoint avoiding going into the complicated algorithmic details behind the presented techniques. In this way, a general overview of SLAM is presented showing the relationship between its different components and stages like the core part of the front-end and back-end and their relation to the SLAM paradigm. Furthermore, we explain the major mathematical techniques of filtering and pose graph optimization either using visual or LiDAR SLAM and introduce a summary of the deep learning efficient contribution to the SLAM problem. Finally, we address examples of some existing practical applications of SLAM in our reality.
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Dissertations / Theses on the topic "Robotics, software architecture, SLAM"

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MICUCCI, DANIELA. "Mobile Robot Localisation and World Modeling in a Real-Time Software Architecture." Doctoral thesis, Università degli Studi di Milano, 2004. http://hdl.handle.net/10281/58006.

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The goal of autonomous mobile robotics is to build physical systems that can interact with environments not specifically structured for this purpose. Even if the applications that might exploit autonomous mobile robots are widespread, current technologies are still immature at satisfying the growing requests. For this reason, robot navigation constitutes one of the major trends in the current research on robotics. A precondition for a mobile robot to be autonomous is the ability to self-localise inside an environment. This precondition is dificult to satisfy when the robot does not exploit a map of the environment to localise itself. Current research investigates methods for map learning, based on the detection of natural features. These methods should allow a robot to self-localise inside the environment it is exploring, and contemporarily to build an incremental representation of the same environment. Research on these methods is still in progress. This is due to the fact that the problem they face is hard because of the following paradox: position estimation needs a model of the environment, and world modelling needs the robot position. \Which come first, the chicken or the egg?" Current research answers the question by proposing solution based upon the simultaneity of the activities. These kinds of approach are known under the SLAM (Simultaneous Localisation And Mapping) acronym, and support the idea that the two activities should be performed together. The aim of this work is to propose a novel approach based upon the concurrence of the two activities. This approach, named CLAM (Concurrent Localisation And Mapping), is founded upon the conjecture that a proper separation of concerns may help in breaking the loop of the \chicken and egg" problem. Localisation and Modelling, acting on different time scales, are mostly independent each other. Sometimes a synchronisation is needed, but controlled by an external and suitable strategy. We consider the CLAM system a time-sensitive one since it has to perform a number of different activities with multiple, dynamic, and interdependent temporal requirements. Furthermore, a CLAM system must be able to dynamically change the activities temporal requirements. To fulfill the goal we have to define and implement a general framework for the construction of time-sensitive systems. The framework, named Real-Time Performers, is composed by a reference architecture and a working implementation providing software engineers a consistent set of software modules to build time-sensitive systems. The architecture is based upon a novel methodology based on computational reflection, this methodology models the temporal behaviour of the computational system with a set of suitable architectural abstractions, reifying time related aspects of the system itself. The final result of this work consists in a real implementation of a system supporting the exploration activity of a robot equipped with an odometric system (for positioning) and a trinocular stereo system (for environment perception). CLAM principles and Real-Time Performers architecture have driven the design of this system. Finally, the resulting system has been developed exploiting Real-Time Performers framework.
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Vincke, Bastien. "Architectures pour des systèmes de localisation et de cartographie simultanées." Phd thesis, Université Paris Sud - Paris XI, 2012. http://tel.archives-ouvertes.fr/tel-00770323.

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La robotique mobile est un domaine en plein essor. L'un des domaines de recherche consiste à permettre à un robot de cartographier son environnement tout en se localisant dans l'espace. Les techniques couramment employées de SLAM (Simultaneous Localization And Mapping) restent généralement coûteuses en termes de puissance de calcul. La tendance actuelle vers la miniaturisation des systèmes impose de restreindre les ressources embarquées. L'ensemble de ces constatations nous ont guidés vers l'intégration d'algorithmes de SLAM sur des architectures adéquates dédiées pour l'embarqué.Les premiers travaux ont consisté à définir une architecture permettant à un robot mobile de se localiser. Cette architecture doit respecter certaines contraintes, notamment celle du temps réel, des dimensions réduites et de la faible consommation énergétique.L'implantation optimisée d'un algorithme (EKF-SLAM), en utilisant au mieux les spécificités architecturales du système (capacités des processeurs, implantation multi-cœurs, calcul vectoriel ou parallélisation sur architecture hétérogène), a permis de démontrer la possibilité de concevoir des systèmes embarqués pour les applications SLAM dans un contexte d'adéquation algorithme architecture. Une seconde approche a été explorée ayant pour objectif la définition d'un système à base d'une architecture reconfigurable (à base de FPGA) permettant la conception d'une architecture fortement parallèle dédiée au SLAM. L'architecture définie a été évaluée en utilisant une méthodologie HIL (Hardware in the Loop).Les principaux algorithmes de SLAM sont conçus autour de la théorie des probabilités, ils ne garantissent en aucun cas les résultats de localisation. Un algorithme de SLAM basé sur la théorie ensembliste a été défini garantissant l'ensemble des résultats obtenus. Plusieurs améliorations algorithmiques sont ensuite proposées. Une comparaison avec les algorithmes probabilistes a mis en avant la robustesse de l'approche ensembliste.Ces travaux de thèse mettent en avant deux contributions principales. La première consiste à affirmer l'importance d'une conception algorithme-architecture pour résoudre la problématique du SLAM. La seconde est la définition d'une méthode ensembliste permettant de garantir les résultats de localisation et de cartographie.
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Silva, João Manuel Leite da. "Perception and software architecture for mobile robotics." Doctoral thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/14083.

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Doutoramento em Ciências da Computação
When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.
Durante o desenvolvimento de software para robôs autónomos móveis, e inevitavelmente necessário lidar com algum tipo de perceção. Al em disso, ao lidar com agentes que possuem algum tipo de raciocínio para executar as suas ações, há a necessidade de modelar o ambiente e o estado interno do robô de forma a representar o cenário onde o robô opera. Inserido no grupo ATRI, integrado na unidade de investigação IEETA da Universidade de Aveiro, este trabalho usa dois dos projetos do grupo como plataformas de teste, particularmente no cenário de futebol robótico com robôs reais. Com o principal objetivo de desenvolver algoritmos para fusão sensorial e de informação que possam ser usados eficazmente nestas equipas, v arias abordagens de estado da arte foram estudadas, implementadas e adaptadas para cada tipo de robôs. No âmbito da equipa de RoboCup MSL, CAMBADA, o principal foco foi a perceção da bola e obstáculos, com a criação de modelos capazes de providenciar informação estendida para que o raciocino do robô possa ser cada vez mais eficaz. Para o alcançar, v arias metodologias foram analisadas, implementadas, comparadas e melhoradas. Em relação a bola, foi efetuada uma análise de metodologias de filtragem para estabilização da sua posição e estimação da sua velocidade. Tendo o guarda-redes em mente, foi também realizado trabalho para providenciar informação de bolas no ar. Quanto aos obstáculos, foi criada uma nova definição para a forma como são detetados pela visão e para o tipo de informação fornecida, bem como uma metodologia para identificar quais dos obstáculos são colegas de equipa. Além disso foi desenvolvido um algoritmo de rastreamento que, no final, atribui um identicador único a cada obstáculo. Associado a melhoria na perceção dos obstáculos foi criado um novo algoritmo para realizar desvio reativo de obstáculos. No contexto da equipa de RoboCup SPL, Portuguese Team, al em da inevitável adaptação de vários dos algoritmos j a desenvolvidos para fusão sensorial e de informação, tendo em conta que foi recentemente criada, o objetivo foi criar uma arquitetura sustentável de software que possa ser a base para futuro desenvolvimento modular. A arquitetura de software criada e baseada numa série de processos diferentes e métodos de comunicação entre eles. Todos os processos foram criados ou adaptados para a nova arquitetura e um conjunto base de papeis e comportamentos foi definido para obter uma framework funcional base. Em termos de perceção, o principal foco foi a definição de um modelo de projeção e extração de pose da câmara que consiga providenciar informação em coordenadas métricas. O segundo objetivo principal era adaptar o algoritmo de localização da CAMBADA para funcionar nos robôs NAO, considerando todas as limitações apresentadas quando comparando com a equipa MSL, principalmente em termos de recursos computacionais. Um conjunto de ferramentas de suporte foram desenvolvidas ou melhoradas para auxiliar o teste e desenvolvimento em ambas as equipas. Em geral, o trabalho desenvolvido durante esta tese melhorou o desempenho da equipas durante os jogos e também a eficácia da equipa de programação durante as fases de desenvolvimento e teste.
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Reymann, Christophe. "Observation missions with UAVs : defining and learning models for active perception and proposition of an architecture enabling repeatable distributed simulations." Thesis, Toulouse, INSA, 2019. http://www.theses.fr/2019ISAT0017/document.

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Cette thèse se focalise sur des tâches de perceptions pour des drones à voilures fixes (UAV). Lorsque la perception est la finalité, un bon modèle d'environnement couplé à la capacité de prédire l'impact de futures observations sur celui-ci est crucial. La perception active traite de l'intégration forte entre modèles de perception et processus de raisonnement, permettant au robot d'acquérir des informations pertinentes à propos du statut de la mission et de replanifier sa trajectoire de mesure en réaction à des évènements et résultats imprévisibles. Ce manuscrit décrit deux approches pour des tâches de perception active, dans deux scénarios radicalement différents. Le premier est celui de la cartographie des phénomènes météorologiques de petite échelle et fortement dynamiques, en particulier de nuages de type cumulus. L'approche présentée utilise la régression par processus Gaussien pour construire un modèle d'environnement, les hyper-paramètres étant appris en ligne. Des métriques de gain d'information sont introduites pour évaluer la qualité de futures trajectoires d'observation. Un algorithme de planification stochastique est utilisé pour optimiser une fonction d'utilité équilibrant maximisation du gain d'information avec des buts de minimisation du coût énergétique. Dans le second scénario, un UAV cartographie des champs de grandes cultures pour les besoins de l'agriculture de précision. Utilisant le résultat d'un algorithme de localisation et cartographie simultanée (SLAM), une approche nouvelle pour la construction d'un modèle d'erreurs relatives est proposée. Ce modèle est appris à partir d'attributs provenant des structures de données du SLAM, ainsi que de la topologie sous-jacente du graphe de covisibilité formé par les observations. Tous les développement ont été testés en simulation. Se focalisant sur la problématique de gestion de l'avancement tu temps et de la synchronisation de simulateurs hétérogènes dans une architecture distribuée, une solution originale basée sur une architecture décentralisée est proposée
This thesis focuses on perception tasks for an unmanned aerial vehicle (UAV). When sensing is the finality, having a good environment model as well as being capable of predicting the impacts of future observations is crucial. Active perception deals with integrating tightly perception models in the reasoning process, enabling the robot to gain knowledge about the status of its mission and to replan its sensing trajectory to react to unforeseen events and results. This manuscript describes two approaches for active perception tasks, in two radically different settings. The first one deals with mapping highly dynamic and small scale meteorological phenomena such as cumulus clouds. The presented approach uses Gaussian Process Regression to build environment models, learning its hyperparameters online. Normalized marginal information metrics are introduced to compute the quality of future observation trajectories. A stochastic planning algorithm is used to optimize an utility measure balancing maximization of theses metrics with energetic minimization goals. The second setting revolves around mapping crop fields for precision agriculture purposes. Using the output of a monocular graph Simultaneous Localization and Mapping (SLAM) algorithm, a novel approach to building a relative error model is proposed. This model is learned both from features extracted from the SLAM algorithm’s data structures, as well as the underlying topology of the covisibility graph of the observations. All developments have been tested using realistic, distributed simulations. An analysis of the simulation issue in robotics is proposed. Focusing on the problem of managing time advancement of multiple interconnected simulators, a novel solution based on a decentralized scheme is presented
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Gandomi-Bernal, Katie. "Implementation of a Modular Software Architecture on a Real-Time Operating System for Generic Control over MRI Compatible Surgical Robots." Digital WPI, 2018. https://digitalcommons.wpi.edu/etd-theses/1227.

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Software used in medical settings operate in complex and variable environments. Programs need to integrate well not only with their electrical and mechanical components, but also within the socio-technological setting they participate in. In this Master's Thesis, a modular software architecture for controlling surgical robot systems within magnetic resonance scanners is designed and implemented. The C++ program runs on a sbRIO 9651 real-time operating system and an object oriented design is taken. Robot kinematics and controls are put into effect in software and validated. Communication with up to ten daughter cards occurs via SPI and external information is exchanged via OpenIGTLink. A web-based engineering console made with ReactJS is also constructed to provide a visual interface for actuating motor axes and executing robot functionality. Documentation of the code is provided and the program was validated quantitatively with software tests and qualitatively through experimentation in MRI suites.
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Bonato, Vanderlei. "Proposta de uma arquitetura de hardware em FPGA implementada para SLAM com multi-câmeras aplicada à robótica móvel." Universidade de São Paulo, 2008. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-31032008-142731/.

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Este trabalho apresenta uma arquitetura de hardware, baseada em FPGA (Field-Programmable Gate Array) e com multi-câmeras, para o problema de localização e mapeamento simultâneos - SLAM (Simultaneous Localization And Mapping) aplicada a sistemas robóticos embarcados. A arquitetura é composta por módulos de hardware altamente especializados para a localização do robô e para geração do mapa do ambiente de navegação em tempo real com features extraídas de imagens obtidas diretamente de câmeras CMOS a uma velocidade de 30 frames por segundo. O sistema é totalmente embarcado em FPGA e apresenta desempenho superior em, pelo menos, uma ordem de magnitude em relaçãoo às implementações em software processadas por computadores pessoais de última geração. Esse desempenho deve-se à exploração do paralelismo em hardware junto com o processamento em pipeline e às otimizações realizadas nos algoritmos. As principais contribuições deste trabalho são as arquiteturas para o filtro de Kalman estendido - EKF (Extended Kalman Filter) e para a detecção de features baseada no algoritmo SIFT (Scale Invariant Feature Transform). A complexidade para a implementaçãoo deste trabalho pode ser considerada alta, uma vez que envolve uma grande quantidade de operações aritméticas e trigonométricas em ponto utuante e ponto fixo, um intenso processamento de imagens para extração de features e verificação de sua estabilidade e o desenvolvimento de um sistema de aquisição de imagens para quatro câmeras CMOS em tempo real. Adicionalmente, foram criadas interfaces de comunicação para o software e o hardware embarcados no FPGA e para o controle e leitura dos sensores do robô móvel. Além dos detalhes e resultados da implementação, neste trabalho são apresentados os conceitos básicos de mapeamento e o estado da arte dos algoritmos SLAM com visão monocular e estéreo
This work presents a hardware architecture for the Simultaneous Localization And Mapping (SLAM) problem applied to embedded robots. This architecture, which is based on FPGA and multi-cameras, is composed by highly specialized blocks for robot localization and feature-based map building in real time from images read directly from CMOS cameras at 30 frames per second. The system is completely embedded on an FPGA and its performance is at least one order of magnitude better than a high end PC-based implementation. This result is achieved by investigating the impact of several hardwareorientated optimizations on performance and by exploiting hardware parallelism along with pipeline processing. The main contributions of this work are the architectures for the Extended Kalman Filter (EKF) and for the feature detection system based on the SIFT (Scale Invariant Feature Transform). The complexity to implement this work can be considered high, as it involves a significant number of arithmetic and trigonometric operations in oating and fixed-point format, an intensive image processing for feature detection and stability checking, and the development of an image acquisition system from four CMOS cameras in real time. In addition, communication interfaces were created to integrate software and hardware embedded on FPGA and to control the mobile robot base and to read its sensors. Finally, besides the implementation details and the results, this work also presents basic concepts about mapping and state-of-the-art algorithms for SLAM with monocular and stereo vision.
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Ramaswamy, Arunkumar. "A model-driven framework development methodology for robotic systems." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLY011/document.

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La plupart des applications robotiques, telles que les véhicules autonomes, sont développées à partir d’une page blanche avec quelques rares réutilisations de conceptions ou de codes issus d’anciens projets équivalents. Qui plus est, les systèmes robotiques deviennent de plus en plus critiques, dans la mesure où ils sont déployés dans des environnements peu structurés, et centrés sur l’humain. Ces systèmes à fort contenu logiciel qui utilisent des composants distribués et hétérogènes interagissent dans un environnement dynamique, et incertain. Or, il s’agit là d’étapes indispensables pour la mise en place de méthodes d’évaluation extensibles, ainsi que pour permettre la réutilisation de composants logiciels pré-existants. Le développement de structures logicielles et d’outils de conception d’architectures, orientés pour la robotique, coûte cher en termes de temps et d’effort, et l’absence d’une approche systématique pourrait conduire à la production de conceptions adhoc, peu flexibles et peu réutilisables. Faire de la meta-structure de l’architecture un point de convergence offre de nouvelles possibilités en termes d’interopérabilité, et de partage de la connaissance, au sein des communautés dédiées à la mise en place d’architectures et de structures. Nous suivons cette direction, en proposant un modèle commun, et en fournissant une approche méthodologique systématique aidant à spécifier les différents aspects du développement d’architectures logicielles, et leurs relations au sein d’une structure partagée
Most innovative applications having robotic capabilities like self-driving cars are developed from scratch with little reuse of design or code artifacts from previous similar projects. As a result, work at times is duplicated adding time and economic costs. Absence of integrated tools is the real barrier that exists between early adopters of standardization efforts and early majority of research and industrial community. These software intensive systems are composed of distributed, heterogeneous software components interacting in a highly dynamic, uncertain environment. However, no significant systematic software development process is followed in robotics research. The process of developing robotic software frameworks and tools for designing robotic architectures is expensive both in terms of time and effort, and absence of systematic approach may result in ad hoc designs that are not flexible and reusable. Making architecture meta-framework a point of conformance opens new possibilities for interoperability and knowledge sharing in the architecture and framework communities. We tried to make a step in this direction by proposing a common model and by providing a systematic methodological approach that helps in specifying different aspects of software architecture development and their interplay in a framework
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Bizhuta, Ermal, and Dhespina Carhoshi. "Applicability Study of Software Architectures in the Discrete Manufacturing Domain." Thesis, Mälardalens högskola, Inbyggda system, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-44705.

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Manufacturing, under the umbrella of the latest industrial revolution, has gone through enormous changes in the last decades to then later evolve in what we know now as smart manufacturing. Different companies and entities have developed their own versions of architectures for intelligentand digitalized manufacturing systems. Ideating a exible and safe architecture is one of the first steps towards a system that intends to be applicable in different environments, regardless of the vast variety of possibilities available. For this purpose, the following thesis presents an investigation on the state-of-the-art solutions of the most recent digitalized cloud-based system architectures in the domain of discreet manufacturing. Based on an initial system architecture conceived from the company ABB, an evaluation of this architecture was conducted, by taking in consideration the existing systematical approaches to the digitalization of this industry. In the following thesis work, we investigate, describe and evaluate the limitations and strengths of the most recent and known architectural approaches to cloud robotics. Finally, a few key remarks are made towards ABB's initial solution but also to the industry in general.
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Bueno, Ruas de Oliveira Lucas. "Conception architecturale des systèmes robotiques orientée services." Thesis, Lorient, 2015. http://www.theses.fr/2015LORIS374/document.

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La Robotique a connu une évolution remarquable au cours des dernières années, couplée à un intérêt croissant de la société pour ce domaine. Les robots ne sont plus fabriqués exclusivement pour effectuer des tâches répétitives dans les usines, mais ils sont aussi créés pour collaborer avec les humains dans plusieurs domaines d'application d'importance. Les systèmes robotiques qui contrôlent ces robots sont donc de plus en plus larges, complexes et difficiles à développer. Dans ce contexte, l'Architecture Orientée Services (SOA) a été identifiée comme un style d'architecture logicielle prometteur pour concevoir des systèmes robotiques de manière flexible, réutilisable et productive. Cependant, malgré le nombre considérable de Systèmes Robotiques Orientées Services (SORS) existants aujourd'hui, la plupart d'entre eux ont été développés de manière ad hoc. Le peu d'attention et le soutien limité portés à la conception d'architectures logicielles SORS peuvent non seulement masquer les avantages de l'adoption de la SOA, mais aussi réduire la qualité globale des systèmes robotiques, qui sont souvent utilisés dans des contextes de sécurité critiques. Cette thèse vise à améliorer la compréhension et la systématisation de la conception architecturale SORS. Elle décrit une taxonomie des services pour le domaine de la robotique, puis propose un processus ainsi qu'une architecture de référence afin de systématiser la conception d'architectures logicielles SORS. Les résultats obtenus dans les études d'évaluation montrent qu'à la fois le processus et l'architecture de référence peuvent avoir un impact positif sur la qualité des architectures logicielles SORS et, par conséquent, contribuent à l'amélioration des systèmes robotiques
Robotics has experienced an increasing evolution and interest from the society in recent years. Robots are no longer produced exclusively to perform repetitive tasks in factories, they have been designed to collaborate with humans in several important application domains. Robotic systems that control these robots are therefore becoming larger, more complex, and difficult to develop. In this scenario, Service-Oriented Architecture (SOA) has been investigated as a promising architectural style for the design of robotic systems in a flexible, reusable, and productive manner. Despite the existence of a considerable amount of Service-Oriented Robotic Systems (SORS), most of them have been developed in an ad hoc manner. The little attention and limited support devoted to the design of SORS software architectures may not only hamper the benefits of SOA adoption, but also reduce the overall quality of robotic systems, which are often used in safety-critical contexts. This thesis aims at improving the understanding and systematization of SORS architectural design
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Oliveira, Lucas Bueno Ruas de. "Projeto arquitetural de sistemas robóticos orientados a serviços." Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-27112015-145425/.

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A robótica tem passado por uma notável evolução ao longo dos últimos anos, juntamente com um crescente interesse por parte da sociedade. Robôs não são mais exclusivamente produzidos para realizar atividades repetitivas em fábricas, eles têm sido projetados para apoiar humanos em diversos e importantes domínios de aplicação. Os sistemas robóticos utilizados para controlar tais robôs têm, portanto, se tornado maiores, mais complexos e difíceis de desenvolver. Nesse cenário, a Arquitetura Orientada a Serviços (do inglês, Service-Oriented Architecture - SOA) tem sido investigada como um promissor estilo arquitetural para o desenvolvimento de sistemas robóticos de forma mais flexível, reusável e produtiva. Embora um número considerável de Sistemas Robóticos Orientados a Serviços (do inglês, Service-Oriented Robotic Systems - SORS) já exista, grande parte deles têm sido desenvolvida de maneira ad hoc. A pouca atenção e o suporte limitado ao projeto das arquiteturas de software de SORS pode não só impedir a obtenção dos benefícios associados à adoção da SOA, mas também reduzir a qualidade dos sistemas robóticos que, frequentemente, são utilizados em contextos de segurança crítica. Essa tese tem por objetivo aprimorar o entendimento e a sistematização do projeto arquitetural de SORS. Para isso, é proposta uma taxonomia de serviços para o domínio de robótica, bem como um processo e uma arquitetura de referência para sistematizar o projeto das arquiteturas de software de SORS. Os resultados obtidos evidenciam que tanto o processo quanto a arquitetura de referência podem impactar positivamente na qualidade das arquiteturas de software de SORS e, consequentemente, contribuir para o desenvolvimento de sistemas robóticos.
Robotics has experienced an increasing evolution and interest from the society in recent years. Robots are no longer produced exclusively to perform repetitive tasks in factories, they have been designed to collaborate with humans in several important application domains. Robotic systems that control these robots are therefore becoming larger, more complex, and difficult to develop. In this scenario, Service-Oriented Architecture (SOA) has been investigated as a promising architectural style for the design of robotic systems in a exible, reusable, and productive manner. Despite the existence of a considerable amount of Service-Oriented Robotic Systems (SORS), most of them have been developed in an ad hoc manner. The little attention and limited support devoted to the design of SORS software architectures may not only hamper the benefits of SOA adoption, but also reduce the overall quality of robotic systems, which are often used in safety-critical contexts. This thesis aims at improving the understanding and systematization of SORS architectural design. It describes a taxonomy of services for the robotics domain, as well as proposes a process and a reference architecture that systematize the design of SORS software architectures. Results achieved in the evaluation studies evidence that both process and reference architecture can positively impact on the quality of SORS software architectures and, as a consequence, contribute to the development of robotic systems.
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Books on the topic "Robotics, software architecture, SLAM"

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E, Drummond Mark, Kaelbling Leslie Pack, Rosenschein Stanley J, and Ames Research Center. Artificial Intelligence Research Branch., eds. Collected notes from the Benchmarks and Metrics Workshop (NASA Ames, June 25, 1990). [Moffett Field, CA]: NASA, Ames Research Center, Artificial Intelligence Research Branch, 1991.

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Berlo, Ad. Ambient Intelligence - Software and Applications: 4th International Symposium on Ambient Intelligence (ISAmI 2013. Heidelberg: Springer International Publishing, 2013.

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João, Lourenço, Shehory Onn M. 1963-, and SpringerLink (Online service), eds. Hardware and Software: Verification and Testing: 7th International Haifa Verification Conference, HVC 2011, Haifa, Israel, December 6-8, 2011, Revised Selected Papers. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012.

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Ulrich, Rembold, ed. Microsystem technology and microrobotics. Berlin: Springer, 1997.

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Mohamad, Zain Jasni, El-Qawasmeh Eyas, and SpringerLink (Online service), eds. Digital Information and Communication Technology and Its Applications: International Conference, DICTAP 2011, Dijon, France, June 21-23, 2011, Proceedings, Part II. Berlin, Heidelberg: Springer-Verlag GmbH Berlin Heidelberg, 2011.

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Balzan, Alberto, Claudia Cabrera Aparicio, and Dario Trabucco. Robotics in Tall Building Construction: New Frontiers in Fabrication and Automation. Council on Tall Buildings and Urban Habitat, 2021.

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Frigeni, Fabrizio. Industrial Robotics Control: Mathematical Models, Software Architecture, and Electronics Design. Apress L. P., 2023.

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Agent-Oriented Software Engineering: Reflections on Architectures, Methodologies, Languages, and Frameworks. Springer, 2014.

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Agent-Oriented Software Engineering: Reflections on Architectures, Methodologies, Languages, and Frameworks. Springer, 2014.

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Shehory, Onn, and Arnon Sturm. Agent-Oriented Software Engineering: Reflections on Architectures, Methodologies, Languages, and Frameworks. Springer, 2016.

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Book chapters on the topic "Robotics, software architecture, SLAM"

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Chinnappan, Katerina, Ivano Malavolta, Grace A. Lewis, Michel Albonico, and Patricia Lago. "Architectural Tactics for Energy-Aware Robotics Software: A Preliminary Study." In Software Architecture, 164–71. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-86044-8_11.

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Doherty, Patrick, Fredrik Heintz, and David Landén. "A Delegation-Based Architecture for Collaborative Robotics." In Agent-Oriented Software Engineering XI, 205–47. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-22636-6_13.

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Arena, Paolo, Luca Patané, Pietro Savio Termini, Alessandra Vitanza, and Roland Strauss. "Software/Hardware Issues in Modelling Insect Brain Architecture." In Intelligent Robotics and Applications, 46–55. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-25489-5_5.

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Moctezuma Eugenio, Juan Carlos, and Miguel Arias Estrada. "Hardware/Software FPGA Architecture for Robotics Applications." In Lecture Notes in Computer Science, 27–38. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00641-8_6.

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Geisinger, Michael, Simon Barner, Martin Wojtczyk, and Alois Knoll. "A Software Architecture for Model-Based Programming of Robot Systems." In Advances in Robotics Research, 135–46. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01213-6_13.

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Steiner, Jens, Karsten Diethers, Matthias Hagner, and Ursula Goltz. "Model Based Quality Assurance for a Robotic Software Architecture." In Springer Tracts in Advanced Robotics, 373–89. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16785-0_21.

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Steiner, Jens, Ursula Goltz, and Jochen Maaß. "Self-management within a Software Architecture for Parallel Kinematic Machines." In Springer Tracts in Advanced Robotics, 355–71. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16785-0_20.

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Osterloh, Christoph, Marek Litza, and Erik Maehle. "Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks." In Advances in Robotics Research, 347–56. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01213-6_31.

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Mosteo, Alejandro R., and Luis Montano. "Sancta: An Ada 2005 General-Purpose Architecture for Mobile Robotics Research." In Reliable Software Technologies – Ada Europe 2007, 221–34. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-73230-3_17.

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Biggs, Geoffrey, Noriaki Ando, and Tetsuo Kotoku. "Coordinating Software Components in a Component-Based Architecture for Robotics." In Simulation, Modeling, and Programming for Autonomous Robots, 168–79. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-17319-6_18.

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Conference papers on the topic "Robotics, software architecture, SLAM"

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Castro, Diego Alberto, Carlos Fernando Morales, and R. Fernando De la Rosa. "Multi-robot SLAM on Client-Server Architecture." In 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium (SBR-LARS). IEEE, 2012. http://dx.doi.org/10.1109/sbr-lars.2012.39.

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Pesantes, Mery, Cuauhtemoc Lemus, Hugo A. Mitre, and Jezreel Mejia. "Software Process Architecture: Roadmap." In 2012 IEEE Electronics, Robotics and Automotive Mechanics Conference (CERMA). IEEE, 2012. http://dx.doi.org/10.1109/cerma.2012.25.

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Bergner, Klaus, Andreas Rausch, Marc Sihling, Alexander Vilbig, Katja Popp, and Thomas Reicher. "Software Architecture for Cooperative Buildings." In 18th International Symposium on Automation and Robotics in Construction. International Association for Automation and Robotics in Construction (IAARC), 2001. http://dx.doi.org/10.22260/isarc2001/0002.

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Moxon, Bruce C. "A Multiprocessor-Based Sensor Fusion Software Architecture." In Robotics and IECON '87 Conferences, edited by Rolf-Juergen Ahlers and Michael J. W. Chen. SPIE, 1988. http://dx.doi.org/10.1117/12.942826.

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Henshaw, Carl G., Keith Akins, N. Glenn Creamer, Matthew Faria, Cris Flagg, Matthew Hayden, Liam Healy, et al. "A software architecture for autonomous orbital robotics." In Defense and Security Symposium, edited by Richard T. Howard and Robert D. Richards. SPIE, 2006. http://dx.doi.org/10.1117/12.672268.

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Efremov, Mikhail A., and Ivan I. Kholod. "Architecture of Swarm Robotics System Software Infrastructure." In 2020 9th Mediterranean Conference on Embedded Computing (MECO). IEEE, 2020. http://dx.doi.org/10.1109/meco49872.2020.9134247.

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ALBUS, J., R. LUMIA, and H. MCCAIN. "Software architecture for manufacturing and space robotics." In 2nd Symposium on Automation, Robotics and Advanced Computing for the National Space Program. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1987. http://dx.doi.org/10.2514/6.1987-1687.

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Peniak, Martin, Anthony Morse, and Angelo Cangelosi. "Aquila 2.0 software architecture for cognitive robotics." In 2013 IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL). IEEE, 2013. http://dx.doi.org/10.1109/devlrn.2013.6652565.

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Limbu, Dilip Kumar, Yeow Kee Tan, Ridong Jiang, and Tran Ang Dung. "A software architecture framework for service robots." In 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2011. http://dx.doi.org/10.1109/robio.2011.6181540.

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Bhosale, Swapnil, and Sudeep Pasricha. "SLAM: High Performance and Energy Efficient Hybrid Last Level Cache Architecture for Multicore Embedded Systems." In 2019 IEEE International Conference on Embedded Software and Systems (ICESS). IEEE, 2019. http://dx.doi.org/10.1109/icess.2019.8782441.

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