Service-Oriented Robot Software Development Framework for Distributed Heterogeneous Platforms

A key technical challenge to make multiple robots work together is software development how to specify the mission at the user level and how to program each robot separately. In this paper, we propose a novel software development framework in which a mission is specified with a novel scripting language and the individual robot behavior with an extended dataflow model at the task level. How to relate these two specifications and how to generate the robot code automatically are also addressed in the proposed framework. The viability of the proposed methodology is validated with a preliminary experiment.