{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,5]],"date-time":"2022-04-05T18:41:10Z","timestamp":1649184070009},"reference-count":19,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,5,1]],"date-time":"2009-05-01T00:00:00Z","timestamp":1241136000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a distributed multiple mobile robots framework which allows programming and control of virtual and real mobile robots. The system provides the map building, path planning, robot task planning, simulation, and actual robot control functions in an indoor environment. Users can program the virtual robots in a customized simulation environment and check the performance of execution, i.e., if the simulation result is satisfying, users can download the code to a real robot. The paper focuses on the distributed architecture and key technologies of virtual robots simulation and control of real robots. A method for construction and transfer of a key index value (which stores the robot configuration) is proposed. Using this method, only the robot key configuration index is needed to build the robot in the virtual environment. This results in reduced network load and improved real time performance of the distributed system. Experiments were conducted to compare the performance of the proposed system with the performance of a centralized system. The results show that the distributed system uses less system resources and has better real time performance. What is more, this framework has been applied to Yaskawa's robot \u201cSmartPal.\u201d The simulation and experiment results show that our robotic framework can simulate and control the robot to perform complex tasks.<\/jats:p>","DOI":"10.1017\/s026357470800489x","type":"journal-article","created":{"date-parts":[[2008,8,12]],"date-time":"2008-08-12T13:57:15Z","timestamp":1218549435000},"page":"459-468","source":"Crossref","is-referenced-by-count":3,"title":["A CORBA-based simulation and control framework for mobile robots"],"prefix":"10.1017","volume":"27","author":[{"given":"Zhang","family":"Zhen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cao","family":"Qixin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Charles","family":"Lo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhang","family":"Lei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,5,1]]},"reference":[{"key":"S026357470800489X_ref17","doi-asserted-by":"crossref","unstructured":"17. Gerkey B. P. , Vaughan R. T. , St\u00f8y K. , Howard A. , Sukhatme G. S. and Mataric M. J. , \u201cMost Valuable Player: A Robot Device Server for Distributed Control,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), Wailea, Hawaii (Oct. 29\u2013Nov. 3, 2001) pp. 1226\u20131231.","DOI":"10.1109\/IROS.2001.977150"},{"key":"S026357470800489X_ref11","volume-title":"Advanced Intelligent Mechatronics (AIM2003) Workshop: Middleware Technology for Open Robot Architecture","author":"Ozaki","year":"2003"},{"key":"S026357470800489X_ref15","doi-asserted-by":"publisher","DOI":"10.5772\/5758"},{"key":"S026357470800489X_ref5","unstructured":"5. Object Management Group. OMG Robotics Domain Special Interesting Group (DSIG) Homepage. Available: http:\/\/robotics.omg.org."},{"key":"S026357470800489X_ref16","first-page":"317","volume-title":"Proceedings of the International Conference on Advanced Robotics","author":"Gerkey","year":"2003"},{"key":"S026357470800489X_ref19","unstructured":"19. R&D Center Yaskawa Corporation. Instructions for RTLab API (Ver 1.1.2). Yaskawa Robotics Technology R&D Dept (2004)."},{"key":"S026357470800489X_ref18","unstructured":"18. Sun Microsystems Inc. Java IDL and RMI-IIOP Tools. Available: http:\/\/java.sun.com\/j2se\/1.5.0\/docs\/tooldocs\/index.html#idl (2004)."},{"key":"S026357470800489X_ref4","volume-title":"Advanced CORBA Programming with C++","author":"Henning","year":"1999"},{"key":"S026357470800489X_ref8","unstructured":"8. Orocos: Open Robot Control Software. http:\/\/www.orocos.org."},{"key":"S026357470800489X_ref9","first-page":"1610","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Schlegel","year":"1999"},{"key":"S026357470800489X_ref10","unstructured":"10. Ozaki Fumio , \u201cOpen Robot Controller Architecture (ORCA),\u201d Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS2004), Workshop on Robot Middleware toward Standards, Sendai, Japan (Sep. 2004)."},{"key":"S026357470800489X_ref14","unstructured":"14. Montemerlo M. , Roy N. and Thrun S. , \u201cPerspectives on Standardization in Mobile Robot Programming: The Carnegie Mellon Navigation (CARMEN) Toolkit,\u201d Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, Las Vegas (2003) pp. 2436\u20132441."},{"key":"S026357470800489X_ref3","unstructured":"3. Object Management Group. White paper on benchmarking, Version 1.0, OMG document bench\/99-12-01 (1999)."},{"key":"S026357470800489X_ref2","first-page":"436","article-title":"Graphical programming and 3-D simulation environment for Robot","volume":"27","author":"Chang-wu","year":"2005","journal-title":"Robot"},{"key":"S026357470800489X_ref6","unstructured":"6. Mizukawa M. , Matsuka H. , Koyama T. , Inukai T. , Noda A. , Tezuka H. , Noguchi Y. and Otera N. , \u201cORiN Open Robot Interface for the Network \u2013 The Standard Network Interface for Industrial Robots and its Applications,\u201d International Symposium on Robotics Stockholm (ISR2002), No.45 (Oct. 2002)."},{"key":"S026357470800489X_ref13","first-page":"329","volume-title":"Proceedings of Artificial Life VIII, 8th International Conference on the Simulation and Synthesis of Living Systems","author":"Klein","year":"2002"},{"key":"S026357470800489X_ref1","volume-title":"Proceedings of the Japan Robot Association Conference","author":"Matsukuma","year":"2004"},{"key":"S026357470800489X_ref12","volume-title":"IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM2003) Workshop: Middleware Technology for Open Robot Architecture","author":"Sabe","year":"2003"},{"key":"S026357470800489X_ref7","doi-asserted-by":"crossref","unstructured":"7. Mizukawa M. , Matsuka H. , Koyama T. , Inukai T. , Noda A. , Tezuka H. , Noguchi Y. and Otera N. , \u201cORiN: Open Robot Interface for the Network \u2013 The Standard and Unified Network Interface for Industrial Robot Applications,\u201d SICE Annual Conference, Osaka (2002), pp. 1160\u20131163.","DOI":"10.1109\/SICE.2002.1195288"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357470800489X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,5]],"date-time":"2019-04-05T19:03:53Z","timestamp":1554491033000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357470800489X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,5]]},"references-count":19,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2009,5]]}},"alternative-id":["S026357470800489X"],"URL":"https:\/\/doi.org\/10.1017\/s026357470800489x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,5]]}}}