Pleading for open modular architectures - Lirmm

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Contents Organization………………………………………………………………………...……………4 Theme…………………………………………………………………………………….….……5 Program………………………………………………………………………………………..…8 Papers First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier Session “Institutions” DGA-ETAS……………………………………………………………………………………...10 Pleading for open modular architectures in robotics A. Godin, O. Evain. DGA-SPART……………………………………………………………………………………18 Integrating human/robot interaction into robot control architectures for defence applications D. Dufourd, A. Dalgalarrondo. ONERA-CERT………………………………………………………………………………….37 ProCoSA: a software package for autonomous system supervision M. Barbier, J.F. Gabard, D. Vizcaino, O. Bonnet-Torrès DGA-GESMA……………………………………………………………………….…………..48 Goal driven planning and adaptivity for AUVs H. Ayreault, F. Dabe, M. Barbier, S. Nicolas, G. Kermet. IFREMER…………………………………………………………………….…………………56 Advanced Control for Autonomous Underwater Vehicles M. Perrier. Session “Industrials” THALES…………………………………………………………………………………….…..64 Compared Architectures of Vehicle Control System (Vetronics) and application to an UXV J.P. Quin. INTEMPORA………………………………………………………………………………...…72 RT-MAPS: a modular software for rapid prototyping of real-time multisensor applications. N. Dulac. ECA……………………………………………………………………………………………...76 DES (Data Exchange System), a publish/subscribe architecture for robotics C. Riquier, N. Ricard, C. Rousset. ROBOSOFT……………………………………………………………………………….……85 Modular distributed architecture for robotics embedded systems P. Pomiers, V. Dupourqué. ECA (CYBERNETIX)………………………………………………………………………….….91 Remote operation kit with modular conception and open architecture: the SUMMER concept L. Walle. 6
First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier Session “Academics” LVR – Université d’Orléans………………………………………………………………….100 A multi-level architecture controlling robots from autonomy to teleoperation C. Novales, G. Mourioux, G. Poisson. LAAS-CNRS…………………………………………………………………………………..120 LAAS architecture: Open Robots F. Ingrand. LISYC - Université de Bretagne Occidentale……………………………………………….121 Architectures logicielles pour la robotique et sûreté de fonctionnement L. Nanatchamda. INRIA Rhône-Alpes…………………………………………………………………………..131 Orccad, a framework for safe control design and implementation D. Simon, R. Pissard-Gibollet, S. Arias. LIRMM-CNRS – Université Montpellier 2 ……………………………………….………...145 Overview of a new Robot Controller Development Methodology R. Passama, D. Andreu, T. Libourel, C. Dony. LIP6 - Université Pierre et Marie Curie Paris VI………………………..…………….……164 An Asynchronous Reflection Model for Object-oriented Distributed Reactive Systems J. Malenfant. LST - Université de Technologie de Belfort-Montbéliard …...…………………………….183 Reactive Multi-Agent approaches for the Control of Mobile Robots O. Simonin. VALORIA – Université Bretagne Sud ………………………………………………………192 Horocol language and Hardware modules for robots D. Duhaut, C. Gueganno, Y. Le Guyadec, M. Dubois. CEMAGREF…………………………………………………………………………………..203 A Real-Time, Multi-Sensor Architecture for fusion of delayed observations: Application to Vehicle Localisation C. Tessier, C. Cariou, C. Debain, F. Chausse, R. Chapuis, C. Rousset. List of speakers………………………………………………………………………….……..208 List of participants…………………………………………………………………….………209 7
Page 4 and 5: Organization This first national wo
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First National Workshop on Control
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DES (Data Exchange System), a publi
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Pilote Expérimenté:Télépilote F
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A multi-level architecture controll
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The autonomous parts Basic levels F
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cluster of the perception part of t
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An ultrasound probe of a sonographe
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Abstract First National Workshop on
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nombre de branches dans le parallé
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2 The Orccad architecture 2.1 Basic
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5.3 Real-time structures At compile
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Stopped destination reached destina
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Abstract Horocol language and Hardw
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• langage.xml which describe the
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Coordination programming in Horocol
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[F8] resume [F9] restart [F10] reev
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References First National Workshop
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TABLE I PROBABILITY VALUES FOR PERC
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