SOM4R: a Middleware for Robotic Applications Based on the Resource-Oriented Architecture

SOM4R: a Middleware for Robotic Applications Based on the Resource-Oriented Architecture This paper relies on the resource-oriented architecture (ROA) to propose a middleware that shares resources (sensors, actuators and services) of one or more robots through the TCP/IP network, providing greater efficiency in the development of software applications for robotics. The proposed middleware consists of a set of web services that provides access to representational state of resources through simple and high-level interfaces to implement a software architecture for autonomous robots. The benefits of the proposed approach are manifold: i) full abstraction of complexity and heterogeneity of robotic devices through web services and uniform interfaces, ii) scalability and independence of the operating system and programming language, iii) secure control of resources for local or remote applications through the TCP/IP network, iv) the adoption of the Resource Description Framework (RDF), XML language and HTTP protocol, and v) dynamic configuration of the connections between services at runtime. The middleware was developed using the Linux operating system (Ubuntu), with some applications built as proofs of concept for the Android operating system. The architecture specification and the open source implementation of the proposed middleware are detailed in this article, as well as applications for robot remote control via wireless networks, voice command functionality, and obstacle detection and avoidance. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Journal of Intelligent & Robotic Systems Springer Journals

SOM4R: a Middleware for Robotic Applications Based on the Resource-Oriented Architecture

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Publisher
Springer Netherlands
Copyright
Copyright © 2017 by Springer Science+Business Media Dordrecht
Subject
Engineering; Control, Robotics, Mechatronics; Electrical Engineering; Artificial Intelligence (incl. Robotics); Mechanical Engineering
ISSN
0921-0296
eISSN
1573-0409
D.O.I.
10.1007/s10846-017-0504-y
Publisher site
See Article on Publisher Site

Abstract

This paper relies on the resource-oriented architecture (ROA) to propose a middleware that shares resources (sensors, actuators and services) of one or more robots through the TCP/IP network, providing greater efficiency in the development of software applications for robotics. The proposed middleware consists of a set of web services that provides access to representational state of resources through simple and high-level interfaces to implement a software architecture for autonomous robots. The benefits of the proposed approach are manifold: i) full abstraction of complexity and heterogeneity of robotic devices through web services and uniform interfaces, ii) scalability and independence of the operating system and programming language, iii) secure control of resources for local or remote applications through the TCP/IP network, iv) the adoption of the Resource Description Framework (RDF), XML language and HTTP protocol, and v) dynamic configuration of the connections between services at runtime. The middleware was developed using the Linux operating system (Ubuntu), with some applications built as proofs of concept for the Android operating system. The architecture specification and the open source implementation of the proposed middleware are detailed in this article, as well as applications for robot remote control via wireless networks, voice command functionality, and obstacle detection and avoidance.

Journal

Journal of Intelligent & Robotic SystemsSpringer Journals

Published: Feb 23, 2017

References

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