Integrated debugging of large modular robot ensembles

被引：10
|
作者：
Rister, Benjamin D. [1 ]
Campbell, Jason [2 ]
Pillai, Padmanabhan [2 ]
Mowry, Todd C. [2 ,3 ]
机构：
[1] Carnegie Mellon Univ, Sch Comp Sci, Pittsburgh, PA 15213 USA
[2] Intel Res, Pittsburgh, PA USA
[3] Carnegie Mellon Univ, Pittsburgh, PA 15213 USA
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363651
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Creatively misquoting Thomas Hobbes, the process of software debugging is nasty, brutish, and all too long. This holds all the more true in robotics, which frequently involves concurrency, extensive nondeterminisism, event-driven components, complex state machines, and difficult platform limitations. Inspired by the challenges we have encountered while attempting to debug software on simulated ensembles of tens of thousands of modular robots, we have developed a new debugging tool particularly suited to the characteristics of highly parallel, event- and state-driven robotics software. Our state capture and introspection system also provides data that may be used in higher-level debugging tools as well. We report on the design of this promising debugging system, and on our experiences with it so far.
引用
收藏
页码：2227 / +
页数：2
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