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All Journal IAES International Journal of Robotics and Automation (IJRA)
Ratnesh Srivastav
College of Technology
Automotive Engineering Electrical & Electronics Engineering

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Concurrent asynchronous robotic subsumption using actors & promises Ratnesh Srivastav; G. C. Nandi; Rohit Shukla; Harsh Verma
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2811.189 KB) | DOI: 10.11591/ijra.v8i4.pp217-244

Abstract

Fascinated with robotics open source integrated component MARIE [1], ROS [5] and open source component PLAYER/STAGE [2], CARMEN [3] available in the eld of robotics application. We aim at developing an asynchronous concurrent robotics application based on subsumption [6] architecture using PLAYER, STAGE and already available services freely available on the internet. We used wanderer and wall follower services embedded inside an actor [10][11] and integrated these services to two dierent robots of same congurations on our promise based frame-work that provides actor as service. The two robots switch their services based on color detected (red,green,blue) during their movement in an environment asynchronously. Using actor as a service lls the gap of SOA [4] & EDA [7] by providingsynchronous and asynchronous support for communication. We measured the performance of time taken in completion of services in promise [8] based implementation ,synchronous and asynchronous callback [9] based implementation. We developed a model to prove deadlock freeness in our integrated architecture using petrinet [15] interface composition. We have also been able to justify that component integrated on promise based framework takes less time in service completion than synchronous and asynchronous callback based services.
Co-Authors G. C. Nandi Harsh Verma Rohit Shukla