Generic Architecture for Modular Real-time Systems in Robotics

Schöpping T, Korthals T, Hesse M, Rückert U. Generic Architecture for Modular Real-time Systems in Robotics. In: Madani K, Gusikhin O, eds. Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics. . Vol 2. Setúbal, Portugal : SciTePress; 2018: 403-410.With the continuous progress in robotics and application of such systems in evermore scenarios, safety and flexibility become increasingly important aspects and new designs should thus emphasize real-time capability and modularity. This work points out all related topics for such an endeavor and proclaims to move from conventional bottom-up design to more holistic approaches. Based on experience gained with the modular mini robot platforms BeBot and AMiRo, a novel generic modular architecture is proposed that offers high flexibility and system wide real-time capability