{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/90689"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/90689","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Programming platform for distributed robotics: primitives and portability","abstract":"The Stabilizing Robotics Language (StarL) programming framework aims to simplify development of distributed robotic applications by providing programming abstractions and building blocks for communication, motion control and coordination between robots. It has been used to develop applications such as formation control, automatic intersection protocol, and distributed collaborative search. In this thesis, we introduce the programming abstractions as StarL primitives that are platform independent and useful across hardware platforms, resulting in portability. We first introduce the primitives as building blocks to easily develop, simulate and debug distributed robotic applications in StarL. Then, we discuss the design of the StarL framework which enables us to achieve portability of robot programs across hardware platforms. Thus, the same application program, say, for formation control, can now be ported and deployed on multiple, heterogeneous robotic platforms. We evaluate the design of these new features by simulating several applications.","abstract_html":"The Stabilizing Robotics Language (StarL) programming framework aims to simplify development of distributed robotic applications by providing programming abstractions and building blocks for communication, motion control and coordination between robots. It has been used to develop applications such as formation control, automatic intersection protocol, and distributed collaborative search. In this thesis, we introduce the programming abstractions as StarL primitives that are platform independent and useful across hardware platforms, resulting in portability. We first introduce the primitives as building blocks to easily develop, simulate and debug distributed robotic applications in StarL. Then, we discuss the design of the StarL framework which enables us to achieve portability of robot programs across hardware platforms. Thus, the same application program, say, for formation control, can now be ported and deployed on multiple, heterogeneous robotic platforms. We evaluate the design of these new features by simulating several applications.","abstract_has_math":false,"creators":["Lin, Yixiao"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Mitra, Sayan"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2016,"date_issued":"2016-07-07T19:58:22Z","date_published":"2016-07-07T19:58:22Z","updated_at":"2026-07-22T22:26:34Z","subjects":["distributed robotics","programming platform","portability","Distributed systems"],"languages":["en"],"rights":["Copyright 2016 Yixiao Lin"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/90689","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Mitra, Sayan"]},{"key":"dc:creator","label":"Author","values":["Lin, Yixiao"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2016-07-07T19:58:22Z","2016-04-29","2016-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["distributed robotics","programming platform","portability","Distributed systems"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2016 Yixiao Lin"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/90689"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["The Stabilizing Robotics Language (StarL) programming framework aims to simplify development of distributed robotic applications by providing programming abstractions and building blocks for communication, motion control and coordination between robots. It has been used to develop applications such as formation control, automatic intersection protocol, and distributed collaborative search. In this thesis, we introduce the programming abstractions as StarL primitives that are platform independent and useful across hardware platforms, resulting in portability. We first introduce the primitives as building blocks to easily develop, simulate and debug distributed robotic applications in StarL. Then, we discuss the design of the StarL framework which enables us to achieve portability of robot programs across hardware platforms. Thus, the same application program, say, for formation control, can now be ported and deployed on multiple, heterogeneous robotic platforms. We evaluate the design of these new features by simulating several applications.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2016-07-07 without embargo terms","The student, Yixiao Lin, accepted the attached license on 2016-04-28 at 12:50.","The student, Yixiao Lin, submitted this Thesis for approval on 2016-04-28 at 12:57.","This Thesis was approved for publication on 2016-04-29 at 14:28.","DSpace SAF Submission Ingestion Package generated from Vireo submission #9571 on 2016-07-07 at 13:33:49","Made available in DSpace on 2016-07-07T19:58:22Z (GMT). No. of bitstreams: 2 LIN-THESIS-2016.pdf: 1043805 bytes, checksum: e82bb485024437fdccc86090daa55b2e (MD5) LICENSE.txt: 4207 bytes, checksum: 92cb0bd34bd0217b1635f9c26065e056 (MD5) Previous issue date: 2016-04-29"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Programming platform for distributed robotics: primitives and portability"]}]}],"canonical_facts":{"dc:contributor":["Mitra, Sayan"],"dc:creator":["Lin, Yixiao"],"dc:date":["2016-07-07T19:58:22Z","2016-04-29","2016-05"],"dc:description":["The Stabilizing Robotics Language (StarL) programming framework aims to simplify development of distributed robotic applications by providing programming abstractions and building blocks for communication, motion control and coordination between robots. It has been used to develop applications such as formation control, automatic intersection protocol, and distributed collaborative search. In this thesis, we introduce the programming abstractions as StarL primitives that are platform independent and useful across hardware platforms, resulting in portability. We first introduce the primitives as building blocks to easily develop, simulate and debug distributed robotic applications in StarL. Then, we discuss the design of the StarL framework which enables us to achieve portability of robot programs across hardware platforms. Thus, the same application program, say, for formation control, can now be ported and deployed on multiple, heterogeneous robotic platforms. We evaluate the design of these new features by simulating several applications.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2016-07-07 without embargo terms","The student, Yixiao Lin, accepted the attached license on 2016-04-28 at 12:50.","The student, Yixiao Lin, submitted this Thesis for approval on 2016-04-28 at 12:57.","This Thesis was approved for publication on 2016-04-29 at 14:28.","DSpace SAF Submission Ingestion Package generated from Vireo submission #9571 on 2016-07-07 at 13:33:49","Made available in DSpace on 2016-07-07T19:58:22Z (GMT). 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