A modular approach to system integration in underwater robotics (CROSBI ID 575350)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Lugarić, Tomislav ; Nađ, Đula ; Vukić, Zoran
engleski
A modular approach to system integration in underwater robotics
Underwater exploration is experiencing an ever increasing usage of both autonomous and remotely operated robotic vehicles. Vehicles are typically equipped with several sensors depending on the mission type being carried out. Integration of all these systems together, as well as obtaining data from them presents a significant challenge. This article describes a software architecture which represents all entities in the system as equivalent modules, while hiding their specifics from the user. Each module in the system is fully defined only by the data it produces and the commands it accepts. Modules are coupled together using a communication interface which again hides the underlying protocol from the user, and is based solely on message exchange. This architecture allows quick reconfiguration of the vehicle, easy integration of various sensor systems and provides the application developers with a higher level of abstraction.
Software design ; modular design ; loose coupling ; system integration
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Podaci o prilogu
412-417.
2011.
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objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 19th Mediterranean Conference on Control and Automation (MED 2011)
Podaci o skupu
The 19th Mediterranean Conference on Control and Automation
predavanje
20.06.2011-23.06.2011
Krf, Grčka