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A Logical Cell-Based Approach for Robot Component Repositories  

Koo, Hyung-Min (한국정보통신대학교 공학부)
Ko, In-Young (한국정보통신대학교 공학부)
Publication Information
Journal of KIISE:Software and Applications / v.34, no.8, 2007 , pp. 731-742 More about this Journal
Abstract
Self-growing software is a software system that has the capability of evolving its functionalities and configurations by itself based on dynamically monitored situations. Self-growing software is especially necessary for intelligent service robots, which must have the capability to monitor their surrounding environments and provide appropriate behaviors for human users. However, it is hard to anticipate all situations that robots face with, and it is hard to make robots have all functionalities for various environments. In addition, robots have limited internal capacity. To support self-growing software for intelligent service robots, we are developing a cell-based distributed repository system that allows robots and developers transparently to share robot functionalities. To accomplish the creation of evolutionary repositories, we invented the concept of a cell, which is a logical group of distributed repositories based upon the functionalities of components. In addition, a cell can be used as a unit for the evolutionary growth of the components within the repositories. In this paper, we describe the requirements and architecture of the cell-based repository system for self-growing software. We also present a prototype implementation and experiment of the repository system. Through the cell-based repositories, we achieve improved performance of self-growing actions for robots and efficient sharing of components among robots and developers.
Keywords
Intelligent Service Robots; Self-Growing Robot Software; Distributed Ontology Repositories; Distributed Component Repositories;
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