On the Construction of a Robotic Situation Awareness Support Framework
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2010-08-30
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en
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Abstract
A field of study within human robot interaction is situation awareness, the
study of making context information available to the system. When developing
robotic systems, a lot of e ort usually has to be made to integrate existing data
perception algorithms, often developed in different languages, and use the data
they provide. There is a need for a middleware that provides a way to reuse these
algorithms more efficiently and offers an interface to the data. The "The Context
Toolkit" situation awareness framework was adapted to investigate a solution to
these problems. A configuration module was developed to allow modules to be
connected automatically, and the overhead was separated from the data
flow.
Accordingly, the protocol was simplified to stimulate reuse and efficiency. A test
case experiment was conducted with the iCat robotic framework to evaluate the
system. We conclude with a discussion on considerations that have to be made
when developing a situation awareness support system.
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Faculteit der Sociale Wetenschappen