ArchGenTool: a System-Independent Collaborative Tool for Robotic Architecture Design

Complex robotic architectures require a collaborative effort in design and adherence to the design in the implementation phse. ArchGentTool is a collaborative architecture generation tool which supports the design of the robotic architecture in a multi-level fashion. It comprises high-level conceptual analysis of the system to be designed, as well as low-level implementation breakdown of its functional components, acting complementary to the ROS framework. The tool facilitates reusability and expandability of the architecture to any robotic system, as it can be adapted to different specifications. A case study with the RAMCIP service robot is presente

CoCo - A framework for multicore visuo-haptic in mixed reality

Mixed Reality applications involve the integration of RGB-D streams with virtual entities potentially extended with force feedback. Increasing complexity of the applications pushes the limits of traditional computing structures, not keeping up with the increased computing power of multicore platform. This paper presents the CoCo framework, a component based, multicore system designed for tackling the challenges of visuo-haptics in mixed reality environment, with structural reconfiguration. Special care has been also given to the management of transformation between reference frames for easing registration, calibration and integration of robotic systems. The framework is described together with a description of two relevant case studies