liu.seSearch for publications in DiVA
ReferencesLink to record
Permanent link

Direct link
Stream Processing in the Robot Operating System framework
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudentuppsats (Examensarbete)
Abstract [en]

Streams of information rather than static databases are becoming increasingly important with the rapid changes involved in a number of fields such as finance, social media and robotics. DyKnow is a stream-based knowledge processing middleware which has been used in autonomous Unmanned Aerial Vehicle (UAV) research. ROS (Robot Operating System) is an open-source robotics framework providing hardware abstraction, device drivers, communication infrastructure, tools, libraries as well as other functionalities.

This thesis describes a design and a realization of stream processing in ROS based on the stream-based knowledge processing middleware DyKnow. It describes how relevant information in ROS can be selected, labeled, merged and synchronized to provide streams of states. There are a lot of applications for such stream processing such as execution monitoring or evaluating metric temporal logic formulas through progression over state sequences containing the features of the formulas. Overviews are given of DyKnow and ROS before comparing the two and describing the design. The stream processing capabilities implemented in ROS are demonstrated through performance evaluations which show that such stream processing is fast and efficient. The resulting realization in ROS is also readily extensible to provide further stream processing functionality.

Place, publisher, year, pages
2012. 79 p.
Keyword [en]
Artificial Intelligence, Stream Processing, Robotics
National Category
Computer Engineering
Identifiers
urn:nbn:se:liu:diva-79846 (URN)LIU-IDA/LITH-EX-A--12/030--SE (ISRN)oai:DiVA.org:liu-79846 (OAI)
Subject / course
Computer Engineering
Presentation
2012-06-11, Kurt Gödel, IDA, Linköping University, Linköping, 15:00 (English)
Uppsok
Technology
Supervisors
Examiners
Available from2012-08-16 Created:2012-08-14 Last updated:2012-08-16Bibliographically approved

Open Access in DiVA

fulltext(3503 kB)2030 downloads
File information
File name FULLTEXT01.pdfFile size 3503 kBChecksum SHA-512
820c969d4ef41613612a1847bbcb8783186f77a2c919a38a54abb77bc7cf620a5648e4863a463d519cac3141cd989606f511b371dc1856e55041161637313290
Typ fulltextMimetype application/pdf

Search in DiVA

By author/editor
Hongslo, Anders
By organisation
Artificial Intelligence and Intergrated Computer systemsThe Institute of Technology
Computer Engineering

Search outside of DiVA

GoogleGoogle Scholar
Totalt: 2030 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available
Totalt: 168 hits
ReferencesLink to record
Permanent link

Direct link