TY - JOUR
T1 - ESAIR
T2 - A behavior-based robotic software architecture on multi-core processor platforms
AU - Tseng, Chin Yuan
AU - Huang, Yu-Lun
AU - Hu, Jwu-Sheng
PY - 2013
Y1 - 2013
N2 - This paper introduces an Embedded Software Architecture for Intelligent Robot systems (ESAIR) that addresses issues with parallel thread executions on multi-core processor platforms. ESAIR provides a thread scheduling interface to improve the execution performance of a robot system by assigning a dedicated core to a running thread on-the-fly and dynamically rescheduling the priority of the thread. We describe the object-oriented design and the control functions of the ESAIR. The modular design of ESAIR helps improve software quality, reliability, and scalability in both research and practical settings. We demonstrate this improvement by realizing ESAIR on an autonomous robot named Avatar. Avatar implements various human-robot interactions, including speech recognition, human-following, face recognition, speaker identification, among others. With the support of ESAIR, Avatar can integrate a comprehensive set of behaviors and peripherals with better resource utilization.
AB - This paper introduces an Embedded Software Architecture for Intelligent Robot systems (ESAIR) that addresses issues with parallel thread executions on multi-core processor platforms. ESAIR provides a thread scheduling interface to improve the execution performance of a robot system by assigning a dedicated core to a running thread on-the-fly and dynamically rescheduling the priority of the thread. We describe the object-oriented design and the control functions of the ESAIR. The modular design of ESAIR helps improve software quality, reliability, and scalability in both research and practical settings. We demonstrate this improvement by realizing ESAIR on an autonomous robot named Avatar. Avatar implements various human-robot interactions, including speech recognition, human-following, face recognition, speaker identification, among others. With the support of ESAIR, Avatar can integrate a comprehensive set of behaviors and peripherals with better resource utilization.
KW - Behavior-based software design
KW - Human-robot interaction
KW - Multi-core platform
KW - Software architecture
UR - http://www.scopus.com/inward/record.url?scp=84905693366&partnerID=8YFLogxK
U2 - 10.5875/ausmt.v3i1.167
DO - 10.5875/ausmt.v3i1.167
M3 - Article
AN - SCOPUS:84905693366
SN - 2223-9766
VL - 3
SP - 47
EP - 56
JO - International Journal of Automation and Smart Technology
JF - International Journal of Automation and Smart Technology
IS - 1
ER -