The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Layered Architecture for Robot Automated Services on Ubiquitous Computing Environments

유비쿼터스 컴퓨팅 환경에서 로봇 자동화 서비스를 위한 계층적 아키텍처

  • 최종선 (숭실대학교 지능형로봇연구소) ;
  • 최재영 (숭실대학교 IT대학 컴퓨터학부) ;
  • 조용윤 (순천대학교 정보통신공학부)
  • Received : 2011.10.17
  • Accepted : 2011.11.23
  • Published : 2011.11.30
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Abstract

In ubiquitous computing environments, users want to receive the robot services regardless of various physical status or devices such as time, place, various sensors, and high-performance servers. Thus, the ubiquitous service robots have to provide users with automated services according to situational information that they properly recognize. Beyond these problems, robot software has to establish a foundation to support the functions with the network infrastructure that are not able to be solved by a single independent resource. On the basis of a robot middleware that is capable of minimizing dependencies among hierarchy structures, the robot software also has to provide execution environment to control the flow of robot application services. In this paper, we propose a layered architecture to provide users with automated services through ubiquitous robots. The proposed architecture is based on CAWL (Context-Aware Workflow Language) and RSEL (Robot Services Execution Language). CAWL easily represents the flow of robot services from user application service levels, and RSEL is able to support the composition and reusability of robot services through abstraction of robot device services. In our experiments, we applied the proposed architecture to an example of "booth guide robot service".

Keywords

References

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