Software integration: lessons learned with the ETHNOS environment

This paper describes our experiences in the integration of different software components for autonomous robots. In particular, it presents ETHNOS II, a real-time multithreaded programming environment, specifically designed to facilitate the development of distributed robotic systems. ETHNOS II is co...

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Bibliographic Details
Main Author: Piaggio, M.
Format: Conference Proceeding
Language:English
Subjects:
Application software
Cognitive robotics
Computer architecture
Intelligent robots
Object oriented programming
Operating systems
Programming environments
Protocols
Real time systems
Robot programming
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Summary:This paper describes our experiences in the integration of different software components for autonomous robots. In particular, it presents ETHNOS II, a real-time multithreaded programming environment, specifically designed to facilitate the development of distributed robotic systems. ETHNOS II is composed of an object oriented API-Application Programming Interface-and a dedicated operating system built on top of a RT POSIX OS. The ETHNOS characteristics (in particular the communication services provided) are discussed, focusing on their properties and on their effects on the resulting system. Examples of integration will be provided, and the results experimentally evaluated on real robots.
ISSN:2158-9860
2158-9879
DOI:10.1109/ISIC.1998.713682