The paper 1 concentrates on the way that the MRROC++ robot programming framework has been applied to produce control systems for robots of different types performing diverse tasks. Moreover, both a brief formal specification and the method of implementation of the MRROC++ based systems is presented.
The paper presents a formal approach to robot motion specification. This motion specification takes into account three elementary behaviors that suffice to define any robot interaction with the environment, i.e.: free motion, exerting generalized forces and transition between both of those behaviors. Those behaviors provide a foundation for general motion… (More)
Purpose – This paper seeks to develop universal software (a programming framework) enabling the implementation of service robot controllers. The software should distinguish the hardware-oriented part of the system from the task-oriented one. Moreover, force, vision as well as other sensors should be taken into account. Multi-effector systems have to be… (More)
A systematic approach to the design of control systems for robots executing complex tasks will be presented. Each robot is treated as an embodied agent, i.e. an entity influencing a physical environment by its effectors, gathering the information about the state of this environment through its receptors (sensors), and using that information in a decision… (More)