High performance relaying of C++11 objects across processes and logic-labeled finite-state machines

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• dc.contributor.author Estivill-Castro, V. (Vladimir)
• dc.contributor.author Hexel, René
• dc.contributor.author Lusty, Carl
• dc.date.accessioned 2021-07-06T08:16:08Z
• dc.date.available 2021-07-06T08:16:08Z
• dc.date.issued 2014
• dc.description Comunicació presentada a: SIMPAR 2014: International Conference on Simulation, Modeling, and Programming for Autonomous Robots, celebrat del 20 al 23 d'octubre de 2014 a Bèrgam, Itàlia.
• dc.description.abstract We present gusimplewhiteboard, a software architecture analogous to ROS:services and ROS: messages, that enables the construction and extremely efficient inter-process relaying of message-types as C++11 objects, All gusimplewhiteboard objects reside in shared memory. Moreover, our principle is to use idempotent message communication, in direct contrast to previously released platforms for robotic-module communication, that are based on an event-driven subscriber model that queues and multi-threads. We combine this with compiled, time-triggered, logic-labeled finite state machines (llfsms) the are executed concurrently, but scheduled sequentially, in an extremely efficient manner, removing all race conditions and requirements for explicit synchronisation. Together, these tools enable effective robotic behaviour design, where arrangements of llfsms can be organised as hierarchies of machines and submachines, enabling composition of very complex systems. They have proven to be very powerful for Model-Driven Development, capable of simulation, validation, and formal verification.en
• dc.format.mimetype application/pdf
• dc.identifier.citation Estivill-Castro V, Hexel R, Lusty C. High performance relaying of C++11 objects across processes and logic-labeled finite-state machines. In: Brugali D, Broenink JF, Kroeger T, MacDonald BA, editors. SIMPAR 2014: International Conference on Simulation, Modeling, and Programming for Autonomous Robots; 2014 Oct 20-23; Bergamo, Italy. Cham: Springer; 2014. p. 182-94. (LNCS; no. 8810). DOI: 10.1007/978-3-319-11900-7_16
• dc.identifier.doi http://dx.doi.org/10.1007/978-3-319-11900-7_16
• dc.identifier.issn 0302-9743
• dc.identifier.uri http://hdl.handle.net/10230/48089
• dc.language.iso eng
• dc.publisher Springer
• dc.relation.ispartof Brugali D, Broenink JF, Kroeger T, MacDonald BA, editors. SIMPAR 2014: International Conference on Simulation, Modeling, and Programming for Autonomous Robots; 2014 Oct 20-23; Bergamo, Italy. Cham: Springer; 2014. p. 182-94. (LNCS; no. 8810)
• dc.rights © Springer The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-11900-7_16
• dc.rights.accessRights info:eu-repo/semantics/openAccess
• dc.subject.keyword State machineen
• dc.subject.keyword Software architectureen
• dc.subject.keyword Boolean expressionen
• dc.subject.keyword Camera dataen
• dc.subject.keyword Subsumption architectureen
• dc.title High performance relaying of C++11 objects across processes and logic-labeled finite-state machinesen
• dc.type info:eu-repo/semantics/conferenceObject
• dc.type.version info:eu-repo/semantics/acceptedVersion