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Monday, 15 May 2006

Wrapping a Mobile Robot with RT-CORBA

Ricardo Sanz, Adolfo Hernando, Carlos Martínez and Ignacio López

To be presented at SYROCO 2006, 8th International IFAC Symposium on Robot Control.

Abstract

Building complex controllers is a ma jor challenge and it is widely accepted that ob ject technology can help with the problem. This is of special relevance in the field of complex robot control, in particular when distribution is necessary. CORBA is a suitable technology for deployment and is well demon- strated in the experimental field and in commercial robots. In this paper we describe the implementation of a real-time ob ject wrapper for a mobile robot using Real-time CORBA technology. This type of wrapping enables the implementation of networked robot control systems with increased degrees of predictability.

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Last Updated ( Saturday, 17 June 2006 )
 
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