Universität Bielefeld - Technische Fakultät - Neuroinformatik

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SORMA: Interoperating Distributed Robotics Hardware

Jörg A. Walter
Department of Computer Science
University of Bielefeld
D-33615 Bielefeld
Email:
http://www.techfak.uni-bielefeld.de/ tex2html_wrap_inline968 walter/
In: Proc. Int. Conf. on Robotics and Automation (ICRA) IEEE 1997

Abstract: This paper introduces the Service Object Request Management Architecture (``SORMA''), its design issues, and its concepts. It is a software framework for rapid development of object-oriented software modules and their integration into stand-alone and distributed applications. SORMA provides an intelligent ``object-bus'' for inter-operating and sharing distributed computing and robotics hardware.

We investigate the question, why too many valuable hardware and software systems and components are a ``one-of-a-kind'' product which do not find economical re-use. For instance, due to the short life-time of single-usage code, extensive, robust, and verbose exception handling - a prerequisite of incremental work - is often sacrificed . We analyze the ``costs of communication'' between the component's builder and all its users, who build solutions.

We propose to pay much more attention to interactive exploration frameworks, which support rapid, qualified information gain on context-situated, efficient applicability. SORMA demonstrates how to reach self-explaining, built-in interactivity which does not impair the component's real-time efficiency.

Keywords: Service Object Request Management Architecture; shared, distributed resources; economy of reusing components; communication cost; built-in interactivity; time-optimal and protected invocation.
 



Joerg Walter

1997-Dec-04