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DyKnow: A Dynamically Reconfigurable Stream Reasoning Framework as an Extension to the Robot Operating System
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering. (KPLAB - Knowledge Processing Lab)
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering. (KPLAB - Knowledge Processing Lab)
2016 (English)In: Proceedings of the Fifth IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016Conference paper (Refereed)
Abstract [en]

DyKnow is a framework for stream reasoning aimed at robot applications that need to reason over a wide and varying array of sensor data for e.g. situation awareness. The framework extends the Robot Operating System (ROS). This paper presents the architecture and services behind DyKnow's run-time reconfiguration capabilities and offers an analysis of the quantitative and qualitative overhead. Run-time reconfiguration offers interesting advantages, such as fault recovery and the handling of changes to the set of computational and information resources that are available to a robot system. Reconfiguration capabilities are becoming increasingly important with the advances in areas such as the Internet of Things (IoT). We show the effectiveness of the suggested reconfiguration support by considering practical case studies alongside an empirical evaluation of the minimal overhead introduced when compared to standard ROS.

Place, publisher, year, edition, pages
2016.
Keyword [en]
stream reasoning framework, middleware, reconfiguration, robotics
National Category
Computer Science
Identifiers
URN: urn:nbn:se:liu:diva-132266OAI: oai:DiVA.org:liu-132266DiVA: diva2:1039601
Conference
IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, San Francisco CA, USA, 13-16 December, 2016
Projects
CUGSNFFP6CUASCADICSELLIIT
Funder
CUGS (National Graduate School in Computer Science)ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from: 2016-10-24 Created: 2016-10-24 Last updated: 2016-11-07

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de Leng, DanielHeintz, Fredrik
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