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A Robotic Middleware

A Robotic Middleware. Jagiello, J. , Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au , nicholas.tay@dsto.defence.gov.au marko.eronen@dsto.defence.gov.au.

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A Robotic Middleware

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  1. A Robotic Middleware Jagiello, J. , Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au, nicholas.tay@dsto.defence.gov.au marko.eronen@dsto.defence.gov.au

  2. Build a framework that allows for multi-robot cooperation and decision making, with supervisory control in distributed environments (NCW) Overcome interoperability issues between different vendor specific hardware and software platforms Software development and maintenance cost reduction measure Allow for portability of software between different vendor platforms Why robotic middleware?

  3. 3 Tier Architecture

  4. Mobile Agent Agent Platform Agent Platform Robotic Middleware Robotic Middleware Robotic Platform Robotic Middleware Hosting a Mobile AgentScenario I Agent Platform Any Platform including Robotic Platform Robotic Platform

  5. Mobile Agent Agent Platform Agent Platform Robotic Middleware Robotic Middleware Robotic Platform Robotic Middleware Hosting a Mobile AgentScenario II Agent Platform Any Platform including Robotic Platform Robotic Platform

  6. A Simulation Framework • testing robotic middleware is a time consuming and tedious process • in order to speed up the development process it was necessary to do preliminary testing outside robotic platforms • need for high performance ad- hoc simulation and experimentation environment

  7. A Simulation Framework - Architectural Model Internal Controller Rule Controller Tapestry Controller Output Controller Repository Store State Vector Initial State Vector Control Vector Sensor Controller Agent 1 . . . Perceive State Vector Output Vector Agent M

  8. Robotic Middleware and Simulation Framework – Mind Storm Robot Example

  9. Robotic Middleware and Simulation Framework – Game of Tips Example

  10. Physical Security Simulation Example

  11. Conclusions • Robotic Middleware is a future and the cost cutting measure for Defence, • Developed prototype is a contribution to the standard for robotics industry, • Developed simulation framework for real time robotic applications has been successfully deployed for gaming applications.

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