Extending the Kouretes Statechart Editor for Generic Agent Behavior Development

Part 5: Agents (AGE)International audienceThe development of high-level behavior for autonomous robots is a time-consuming task even for experts. The Kouretes Statechart Editor (KSE) is a Computer-Aided Software Engineering (CASE) tool, which allows to easily specify a desired robot behavior as a statechart model utilizing a variety of base robot functionalities (vision, localization, locomotion, motion skills, communication) for the Monas robotic software architecture framework. This paper presents an extension to KSE, which allows defining generic agent behaviors using automatic framework-independent code generation, as long as the underlying framework is written in C++. This way a user can program physical (robots) or software agents that can be executed on any platform using any compatible software framework. This paper demonstrates the transparent use of the extended KSE in the SimSpark 3D soccer simulation and the Wumpus world

A skill-based system for object perception and manipulation for automating kitting tasks

The automation of kitting tasks-collecting a set of parts for one particular car into a kit-has a huge impact in the automotive industry. It considerably increases the automation levels of tasks typically conducted by human workers. Collecting the parts involves picking up objects from pallets and bins as well as placing them in the respective compartments of the kitting box. In this paper, we present a complete system for automated kitting with a mobile manipulator thereby focusing on depalletizing tasks and placing. In order to allow for low cycle times, we present particularly efficient solutions to object perception as well as motion planning and execution. For easy portability to different platforms, all components are integrated into a skill-based framework that is tightly coupled with a task planning component. We present results of experiments at both a research laboratory environment and at the industrial site of PSA Peugeot Citroën serving as a proof of concept for the overall system design and implementation

A case tool for robot behavior development

Summarization: The development of high-level behavior for autonomous robots is a time-consuming task even for experts. This paper presents a Computer-Aided Software Engineering (CASE) tool, named Kouretes Statechart Editor (KSE), which enables the developer to easily specify a desired robot behavior as a statechart model utilizing a variety of base robot functionalities (vision, localization, locomotion, motion skills, communication). A statechart is a compact platform-independent formal model used widely in software engineering for designing software systems. KSE adopts the Agent Systems Engineering Methodology (ASEME) model-driven approach. Thus, KSE guides the developer through a series of design steps within a graphical environment that leads to automatic source code generation. We use KSE for developing the behavior of the Nao humanoid robots of our team Kouretes competing in the Standard Platform League of the RoboCup competition.Παρουσιάστηκε στο: 16th RoboCup International Symposiu