期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
期号：6
DOI：10.1177/1729881416663662
出版社：SAGE Publications
摘要：Component-based approaches are prevalent in software development for robotic applications due to their reusability and productivity. In this article, we present an Embedded modular Software framework for a networked roBoTic system (EmSBoT) targeting resource-constrained devices such as microcontroller-based robots. EmSBoT is primarily built upon μCOS-III with real-time support. However, its operating system ion layer makes it available for various operating systems. It employs a unified port-based communication mechanism to achieve message passing while hiding the heterogeneous distributed environment from applications, which also endows the framework with fault-tolerant capabilities. We describe the design and core features of the EmSBoT framework in this article. The implementation and experimental evaluation show its availability with small footprint size, effectiveness, and OS independence.
关键词：Robotic software framework ; multi-robot system ; real-time ; EmSBoT
