Abstract: This paper presents the architecture design of the robot operability assessment simulation testbed (called "ROAST") for the resolution of robot operability problems occurred during interactions between human operators and robots. The basic idea of the ROAST architecture design is to enable the easy composition of legacy or new simulation models according to its purpose. ROAST architecture is based on IEEE1516 High Level Architecture (HLA) of defense modeling and simulation. The ROAST architecture is expected to provide the foundation framework for the easy construction of a simulation testbed to order to assess the robot operability during the robotic system design. Some of ROAST implementations and its usefulness are demonstrated through a simple illustrative example.
Abstract: Open Agent System platform based on High Level
Architecture is firstly proposed to support the application involving
heterogeneous agents. The basic idea is to develop different wrappers
for different agent systems, which are wrapped as federates to join a
federation. The platform is based on High Level Architecture and the
advantages for this open standard are naturally inherited, such as
system interoperability and reuse. Especially, the federal architecture
allows different federates to be heterogeneous so as to support the
integration of different agent systems. Furthermore, both implicit
communication and explicit communication between agents can be
supported. Then, as the wrapper RTI_JADE an example, the
components are discussed. Finally, the performance of RTI_JADE is
analyzed. The results show that RTI_JADE works very efficiently.