Tekkotsu: A Rapid Development Framework for Robotics
Abstract
Robotics software encompasses several difficult realms of computer science, requiring vision, manipulation, and intelligent planning, all in real time. Unfortunately, all must be in place for any significant results to be achieved. The common problem is that in order to test a new algorithm in one of the component fields, basic implementations of all of the other fields must first be provided. Further, a poor implementation in one area may hide what would be an otherwise successful solution in another. This report presents my development of a framework to encompass six classes of primitives that compose mobile robot applications. They are: User Interface, Perception, Control Structure, Manipulation, Mapping, and Memory/Learning. In addition, methods for combining primitives and resolving resource conflicts between them will be discussed.
BibTeX
@mastersthesis{Tira-Thompson-2004-8926,author = {Ethan Tira-Thompson},
title = {Tekkotsu: A Rapid Development Framework for Robotics},
year = {2004},
month = {May},
school = {Carnegie Mellon University},
address = {Pittsburgh, PA},
}