Prime - A Service-oriented Framework with Minimal Communication Overheads

Sergey Zhigalov, Yuri Okulovsky

Abstract

We present Prime, a framework for development of service-oriented control systems in robotics. Prime uses an original approach to services: the service is not a monolith, but is subdivided into three layers. This approach allows creating services’ internal logic without references to communication-related entities, and therefore almost without initial learning of Prime. In addition, Prime offers three methods of linking services together that are completely interchangeable and compatible. The first is a classic service-oriented solution; the second belongs more to functional programming, it combines the algorithms inside each service into one function, that is equivalent to the behavior of the service-oriented system. The third uses code emission technique to significantly increase the performance. The Prime adds little overheads and is much faster than, for example, Microsoft Robotics Studio.

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Paper Citation


in Harvard Style

Zhigalov S. and Okulovsky Y. (2014). Prime - A Service-oriented Framework with Minimal Communication Overheads . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 169-175. DOI: 10.5220/0005017201690175


in Bibtex Style

@conference{icinco14,
author={Sergey Zhigalov and Yuri Okulovsky},
title={Prime - A Service-oriented Framework with Minimal Communication Overheads},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={169-175},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005017201690175},
isbn={978-989-758-039-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Prime - A Service-oriented Framework with Minimal Communication Overheads
SN - 978-989-758-039-0
AU - Zhigalov S.
AU - Okulovsky Y.
PY - 2014
SP - 169
EP - 175
DO - 10.5220/0005017201690175