Authors:
Sergey Zhigalov
1
and
Yuri Okulovsky
2
Affiliations:
1
Yandex N.V., Russian Federation
;
2
Ural Federal University, Russian Federation
Keyword(s):
Control Systems, Service-Oriented Approach, Framework.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
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.