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Separation Of Concerns Within Robotic Systems Through Proactive Computing

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Academic year: 2021

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Separation Of Concerns Within

Robotic Systems Through Proactive Computing

Alexandre Frantz Denis Zampunieris University of Luxembourg

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Table of Contents

• Problem Statement

• Proposed Solution Model

• Proof of Concept

• Robot Side

• Engine Side

• Proactive Scenarios

• Scenario Relation

• Conclusion and Future Work

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Problem Statement

• Proactive Computing applied to Robotic Simulations

• Why?

• Lack of separation of concerns

• Additional way of fusing Software Engineering & Robotics

• How?

• Proactive behavior & Scenarios

• Use of Webots™ Simulator, Database and Proactive Engine

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PROPOSED

SOLUTION MODEL

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Robot Side

• A robot is controlled by a controller file

• Receives messages (i.e. commands) from P.E

• How?

• Database (middleware)

• Sends data to P.E through database

• Data?

• Sensor Values: GPS, Inertial Unit (IU), Distance Sensors (DS), Battery Levels

• Consists of Scenarios made of rules

• Each Scenario handles 1 concern only and suggests the next step for the robot to achieve the goal

• Receives data from Robot and determines next move

• Brain of our Robot

Engine Side

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Proof of Concept

• Goal: Move towards an objective

• Achieved with 5 Scenarios:

• Data Acquisition

• Reach Destination

• Avoid Obstacles

• Battery Monitor

• Decision Making and Strategy

• All Scenarios are running in parallel

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Proof of Concept– Scenario Example

• Reach Destination:

• Rules : GetCheckpoint & MoveToCheckpoint

• Has to reach a set of GPS coordinates (defined on the DB)

• Independent Execution

-> Does not know about the other Scenarios -> Is not concerned about other constraints

-> Only instructs the robot to go from A -> … -> Z

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Proof of Concept – Decision Making &

Strategy

• Decision Making and Strategy

• 2 arrays : PriorityArray & CommandArray

• Main rule: ReadRobotCommands

• Factors for sending Commands:

• Scenario Priority

• Strategy Selected

• Strategies: Offensive + Defensive

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Conclusion and Future Work

• Separation of Concerns achieved:

• Rule-driven programming

• Proactive Behavior

• Scenarios & Rules

• System is easily extended by adding new scenarios

• New model to fuse S.E with Robotics

• Expand towards real life applications

• Robots

• Smart homes

• Medicine & Teaching

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Thank you for your

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