umu.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Design of a general framework for synchronizing behaviors in a complex robot
Umeå University, Faculty of Science and Technology, Department of Computing Science.
2012 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

This thesis describes a general framework for synchronizing behaviors in a complex robot, using a Finite State Machine. The framework is developed in C++ and with the robotic framework ROS. It will be used for the EU funded research project CROPS for developing a fruit harvesting robot. The thesis also focuses on how to connect a robot behavior to a state that makes pre-emptive multitasking possible. One important thing about connecting a behavior to a state is which kind of communication to use; publish-subscribe, request-reply, or a goal-feedback-result communication. These communications can be used by two different state interfaces. Another important point regarding connecting a behavior to a state is the definition of state transitions. The state transitions are defined in a text file in yaml format. There are also three different ways of implementing state transactions presented. Passing data by ROS messages, by ROS parameter server and by saving and loading data in and from the Finite State Machine. The framework has been successfully implemented in CROPS and is able to control a robot arm.

Place, publisher, year, edition, pages
2012.
Series
UMNAD, 910
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:umu:diva-58254OAI: oai:DiVA.org:umu-58254DiVA: diva2:547526
Educational program
Bachelor of Science Programme in Computing Science
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-08-28 Created: 2012-08-28 Last updated: 2012-09-07Bibliographically approved

Open Access in DiVA

fulltext(756 kB)112 downloads
File information
File name FULLTEXT01.pdfFile size 756 kBChecksum SHA-512
f52186bf23009c0ba0e05d78db96b70343c7c1f83b5879428d352cd3f44a1d250240d39578ff6c8e83b8d3a88d5c65c9381dd913eb27983d0dbc32f8c1bd5dd8
Type fulltextMimetype application/pdf

By organisation
Department of Computing Science
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 112 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 129 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf