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CERO: CE RObots Community
(2005)
We describe our experience creating a robots community using standard hardware and software - the Windows CE operating system, XScale development boards, and LEGO Mindstorm actuators. We focus on an open and extendable distributed robotics system, which in contrast to most existing proprietary robotics systems, supports cost-effective integration and assembly of components while providing dependable communication and coordination. To demonstrate feasibility we have developed the CERO Framework for ad hoc cooperation in robots communities employing a service-oriented architecture with the main building blocks: ad hoc networking for different wireless technologies (e.g., Bluetooth, WLAN, or 433 MHz radio communication), a protocol for interconnecting development board and actuators, and a CE.NET based software framework supporting complex movements, consensus protocols, cooperation, and positioning. It offers high-level interfaces for programming complex tasks in cooperative robotics. We also present an overview of intended applications.
Composability is a sought after property. However, whereas there is usually an intuitive understanding of this concept, a clear definition has been frequently missing.
In this paper, we refine our concept of composability given in. We see composability as a property of an architecture not of systems. In addition, we do not want to reduce composability to the functional specification; rather, we are focusing on how composability effects the nonfunctional properties, especially the composed system's real-time behavior, its reliability, its security, etc. We see the advantage of our approach in having a wide application domain. It works for functional and non-functional properties, it may consider both, hardware and software, and it allows for a description of composition anomalies.
In this paper, we show how to apply our concept to an embedded hardware-software co-designed architecture and to composition and decomposition of dependable services in embedded environments.