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dc.contributor.authorDu Casse, K.
dc.contributor.authorKoay, K.L.
dc.contributor.authorHo, W.C.
dc.contributor.authorDautenhahn, K.
dc.identifier.citationDu Casse , K , Koay , K L , Ho , W C & Dautenhahn , K 2009 , Reducing the cost of robotics software : SAMGAR, a generic modular robotic software communication architecture . in Procs Int Conf on Advanced Robotics : ICAR . IEEE , pp. 1-6 .
dc.identifier.otherPURE: 463220
dc.identifier.otherPURE UUID: 52ce2c53-6167-4736-9c47-a66960b7cbfd
dc.identifier.otherdspace: 2299/3876
dc.identifier.otherScopus: 70449382030
dc.descriptionThe work described in this paper was conducted within the EU integrated project LIREC (Living with Robots and intEgrated Companions). Funded by the European Commission under FP7-ICT under contract FP7-215554.
dc.description.abstractCode reuse in advanced robotics can be problematic due to the wide spectrum of robotic projects and little standardization. Although, in some cases, there are standardisations and tools that can be used, such as YARP, there are still many niches in the field unable to use these. This paper addresses some of the issues preventing these tools from being used. It concentrates on some widely used concepts such as genericity and modularity; and in particular it discusses encapsulation, generic templates, and work in progress towards software self-regulation and self-alteration. The paper also studies the grouping of modules into items which can recursively reside within larger items, leading to a platform designed to take these concepts into consideration. This allows such modules to be employed in an easy and efficient manner, allowing not only code re-use but also enabling concepts of self-repairing and self-maintenance robots. With this level of extendibility, SAMGAR aims to facilitate the implementation for intelligent agents and the migration of their ldquopersonalitiesrdquo (behaviour tendencies) from one physical embodiment to another. A proof of concept implementation using a robotics simulation environment is presented.en
dc.relation.ispartofProcs Int Conf on Advanced Robotics
dc.titleReducing the cost of robotics software : SAMGAR, a generic modular robotic software communication architectureen
dc.contributor.institutionSchool of Computer Science
dc.contributor.institutionScience & Technology Research Institute
dc.contributor.institutionCentre for Computer Science and Informatics Research
dc.contributor.institutionDepartment of Computer Science
dc.contributor.institutionAdaptive Systems
dc.contributor.institutionSchool of Engineering and Computer Science

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