CyPhyHouse：異種分散ロボットのためのプログラミング・シミュレーション・配備ツールチェーン
CyPhyHouse: A Programming, Simulation, and Deployment Toolchain for Heterogeneous Distributed Coordination
高水準なイベント駆動言語Koordでハードウェア非依存の分散ロボットアプリを開発し、スケーラブルなシミュレータと異種実機への配備を可能にするツールチェーンを提案した。
著者: Ritwika Ghosh, Joao P. Jansch-Porto, Chiao Hsieh, Amelia Gosse, Minghao Jiang, Hebron Taylor, Peter Du, Sayan Mitra, Geir Dullerud
分類: cs.RO
原文アブストラクト
Programming languages, libraries, and development tools have transformed the application development processes for mobile computing and machine learning. This paper introduces the CyPhyHouse - a toolchain that aims to provide similar programming, debugging, and deployment benefits for distributed mobile robotic applications. Users can develop hardware-agnostic, distributed applications using the high-level, event driven Koord programming language, without requiring expertise in controller design or distributed network protocols. The modular, platform-independent middleware of CyPhyHouse implements these functionalities using standard algorithms for path planning (RRT), control (MPC), mutual exclusion, etc. A high-fidelity, scalable, multi-threaded simulator for Koord applications is developed to simulate the same application code for dozens of heterogeneous agents. The same compiled code can also be deployed on heterogeneous mobile platforms. The effectiveness of CyPhyHouse in improving the design cycles is explicitly illustrated in a robotic testbed through development, simulation, and deployment of a distributed task allocation application on in-house ground and aerial vehicles.
