Software Architecture for an Exploration Robot based on Urbi

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Jeffry Greene
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Matthieu Nottale Ensta-ParisTech, Gostai S.

1 Software Architecture for an Exploration Robot based on Urbi David Filliat Akim D le Jean-Christophe Baillie Guillaume Duceux David Filliat Quentin Hocquet Matthieu Nottale Ensta-ParisTech, Gostai S.A.S. Control Architectures of Robots 2011 May 25th, 2011 D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 1 / 24

2 Motivations: project PACOM Participate to the CAROTTE competition organized by the DGA and the ANR D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 2 / 24

3 Architecture for a Robot Handling a large set of software components Dealing with events, data-flow, and failure Based on the Urbi framework D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 3 / 24

4 1 System Overview 2 Urbi as a middleware 3 Practical Implementation 4 Conclusion and Future Work D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 4 / 24

5 System Overview System Overview 1 System Overview 2 Urbi as a middleware 3 Practical Implementation 4 Conclusion and Future Work D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 5 / 24

SICK LMS 200 Sonar sensors Pionner 3 dx D. Filliat et al.

6 Hardware architecture System Overview Hardware Access 3 on-board computers Hokuyo UTM 30 LX Pan-Tilt-Zoom camera SICK LMS 200 Sonar sensors Pionner 3 dx D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 6 / 24

7 System Overview Software components Software components SLAM Path planning Exploration Semantic mapping Robot Servoing Object recognition Windows detector D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 7 / 24

8 System Overview Handling different situations Handling different situations Normal ongoing mission Find a target Find a path to the target Avoid Obstacles Reach the target While detecting Objects At the end generate the semantic map Situations to handle Target unreachable Emergency stop Robot blocked Component failure D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 8 / 24

9 System Overview Handling different situations Handling different situations Normal ongoing mission Find a target Find a path to the target Avoid Obstacles Reach the target While detecting Objects At the end generate the semantic map Situations to handle Target unreachable Emergency stop Robot blocked Component failure D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 8 / 24

10 Urbi as a middleware Urbi as a middleware 1 System Overview 2 Urbi as a middleware 3 Practical Implementation 4 Conclusion and Future Work D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR 11 9 / 24

11 Urbi as a middleware Architecture Software platform for robotic applications distributed component architecture urbiscript Flexible Facilitate integration and development D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

12 Urbi as a middleware Architecture Software platform for robotic applications distributed component architecture urbiscript Flexible Facilitate integration and development D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

13 Urbi as a middleware UObjects: drivers and software components UObjects: drivers and software components UObjects Written in C++ or Java API Plugged UObjects Shared-memory at the expense of responsiveness Possibility to run in separate thread Remote UObjects Used seamlessly Parallelism but no shared-memory General failure protection D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

14 Urbi as a middleware UObjects: drivers and software components UObjects: drivers and software components UObjects Written in C++ or Java API Plugged UObjects Shared-memory at the expense of responsiveness Possibility to run in separate thread Remote UObjects Used seamlessly Parallelism but no shared-memory General failure protection D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

15 Urbi as a middleware UObjects: drivers and software components UObjects: drivers and software components UObjects Written in C++ or Java API Plugged UObjects Shared-memory at the expense of responsiveness Possibility to run in separate thread Remote UObjects Used seamlessly Parallelism but no shared-memory General failure protection D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

16 Urbi as a middleware UVar: data-flow control features UVar: data-flow control features Incoming/outgoing interface between components and Urbi Transparent serialization of integer, float, list, array, etc... Event support: notification of change or access D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

17 urbiscript Urbi as a middleware urbiscript Direct interface with the robot Scripting the behavior of the robot Orchestrate and define robot behavior whenever ( ball.visible ) { headyaw.val += camera.xfov * ball.x & headpitch.val += camera.yfov * ball.y }, D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

18 Practical Implementation Practical Implementation 1 System Overview 2 Urbi as a middleware 3 Practical Implementation 4 Conclusion and Future Work D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

urbiscript Urbi Hardware D. Filliat et al.

19 Practical Implementation Hardware Hardware architecture Hokuyo Laser PTZ Camera SICK Laser Laptop 02 Exploration Laptop 01 Recognition Embedded PC Mapper ( 2DSLAM ) Path planner Guidance Linux Data Logger WIFI Semantic mapper urbiscript Urbi Hardware D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

20 Data-flow control Practical Implementation Data-flow Position Robot Laser SLAM Speed Sensors Servoing Path Path Planner Obstacles Obstacles Detectors D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

21 Data-flow control Practical Implementation Data-flow notification of UVar change servoing.&speeddeltacompute.notifychange( closure() { robot.speeddelta = servoing.speeddeltacompute } ); InputPort var connection = slam.&intputlaser << robot.&laserreadings D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

22 Event-driven mission Practical Implementation Events Loop Mission Update Exploration Map Find target Go To Target Events Events (Watchdog) Target unreachable: - stop the robot - update obstacles map - try another time Or - continue mission elsewhere Robot blocked : - update obstacles map - move out of the area Emergency stop: - stop the robot - emit robot blocked D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

23 Practical Implementation Events Urbi Events for handling situation creation and caption of events var Global.targetUnreachable = Event.new(); at (targetunreachable?()) { echo("target unreachable!"); driveauto.freeze; explorer.findtargets(); robot.goto(explorer.targets.removefront); }; emitting events targetunreachable!(); D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

24 Practical Implementation Background processing Parallelism Handling delay for slow processing var buffer = []; var imagerecord = Tag.new(); imagerecord : every(100ms) { buffer.insertfront([camera.val,robot.position]); // In case of congestion, keep only the most recent images. if (buffer.size > 15) buffer.removeback(); }, whenever (!buffer.empty()) { objreco.process(buffer.removeback()); }, D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

25 Failure protection Practical Implementation Failure protection in urbiscript: checking state of UObject var objreco = nil; every(1s) { if (uobjects.hasslot("objreco") && Global.objReco.protos[0]!= uobjects.objreco) Global.objReco = uobjects.objreco.new(); }, (re)starting shell #! /bin/sh while true do urbi-launch --remote ObjReco.so --host robot done D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

26 Failure protection Practical Implementation Failure protection in urbiscript: checking state of UObject var objreco = nil; every(1s) { if (uobjects.hasslot("objreco") && Global.objReco.protos[0]!= uobjects.objreco) Global.objReco = uobjects.objreco.new(); }, (re)starting shell #! /bin/sh while true do urbi-launch --remote ObjReco.so --host robot done D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

27 Conclusion and Future Work Conclusion and Future Work 1 System Overview 2 Urbi as a middleware 3 Practical Implementation 4 Conclusion and Future Work D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

28 Conclusion and Future Work Conclusion and Future Work Conclusion Control Architectures: Handles data-flow between many modules Deals with different situations Urbi Flexible behavior Facilitate integration and development Facilitate cooperative work Future Work Integrate new components Change the behavior accordingly Take advantage of new Urbi features D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

29 Conclusion and Future Work Conclusion and Future Work Conclusion Control Architectures: Handles data-flow between many modules Deals with different situations Urbi Flexible behavior Facilitate integration and development Facilitate cooperative work Future Work Integrate new components Change the behavior accordingly Take advantage of new Urbi features D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

30 End Thank you for your attention! Questions? D. Filliat et al. (Ensta-ParisTech) Exploration Robot Architecture CAR / 24

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