Programming platform for distributed robotics: primitives and portability

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical & Computer Engr

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2016

Author dc:creator

• Lin, Yixiao

Contributors dc:contributor

• Mitra, Sayan

• distributed robotics
• programming platform
• portability
• Distributed systems

Statement dc:rights

• Copyright 2016 Yixiao Lin

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/90689

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/90689