Naslov
A modular approach to system integration in underwater robotics

Autori
Lugarić, Tomislav ; Nađ, Đula ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 19th Mediterranean Conference on Control and Automation (MED 2011) / - , 2011, 412-417

Skup
The 19th Mediterranean Conference on Control and Automation

Mjesto i datum
Krf, Grčka, 20.06.2011. - 23.06.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Software design ; modular design ; loose coupling ; system integration

Sažetak
Underwater exploration is experiencing an ever increasing usage of both autonomous and remotely operated robotic vehicles. Vehicles are typically equipped with several sensors depending on the mission type being carried out. Integration of all these systems together, as well as obtaining data from them presents a significant challenge. This article describes a software architecture which represents all entities in the system as equivalent modules, while hiding their specifics from the user. Each module in the system is fully defined only by the data it produces and the commands it accepts. Modules are coupled together using a communication interface which again hides the underlying protocol from the user, and is based solely on message exchange. This architecture allows quick reconfiguration of the vehicle, easy integration of various sensor systems and provides the application developers with a higher level of abstraction.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA