A Study on the Application of the Software Framework MASSIVE in KAIST's Intelligent Sweet Home System

• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Oliver Prenzel Sang Wan Lee Zeungnam Bien Axel Graeser
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.9 No.4, 74~84쪽, 전체 11쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2008.12.30

영문 초록

MASSIVE (Multi - Layer Architecture for Semi-Autonomous Service Robots with Verified Task Execution) is a software framework that provides and infrastructure concept for distributed sensor and actuator systems such as service robots, operating in environments that are equipped with smart components. Besides this modular and extensible architecture, a principle of task knowledge specification and verification with process-structures in included in MASSIVE that is able to guarantee task planning in real time along with verified and thus robust system runtime behavior. In this paper the framework is presented briefly. The focus of this contribution is to study how to apply the MASSIVE principles for a typical sample application scenario in KAIST's Intelligent Sweet Home System. First, the required software components have to be derived, and second the exemplary application of MASSIVE's specification and verification methods and tools is demonstrated. The flexibility and the structuring capabilities of the MASSIVE framework as well as the impact of fast system deployment will be worked out.

키워드

Software architecture task knowledge specification and verification semi-autonomy service robots in intelligent environment.