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Title: Pure Coordination using the Coordinator-Configurator Pattern
Authors: Klotzb├╝cher, Markus
Biggs, Geoffrey
Bruyninckx, Herman #
Issue Date: 2012
Series Title: 3rd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-12)
Conference: SIMPAR edition:3 location:Tsukuba, Japan date:5-8 November 2012
Abstract: This work-in-progress paper reports on our efforts to improve
different aspects of coordination in complex, component-based robotic
systems. Coordination is a system level aspect concerned with
commanding, configuring and monitoring functional computations such
that the system as a whole behaves as desired. To that end a variety
of models such as Petri-nets or Finite State Machines may be
utilized. These models specify actions to be executed, such as
invoking operations or configuring components to achieve a certain
goal.

This traditional approach has several disadvantages related to loss
of reusability of coordination models due to coupling with platform-specific
functionality, non-deterministic temporal behavior and
limited robustness as a result of executing platform operations
within the context of the coordinator.

To avoid these shortcomings, we propose to split this rich coordinator
into a Pure Coordinator and a Configurator. Although the coordinator
remains in charge of commanding and reacting, the execution of actions
is deferred to the Configurator. This pattern, called
Coordinator-Configurator, is implemented as a novel Configurator
domain specific language that can be used together with any model of
coordination. We illustrate the approach by refactoring an existing
application that realizes a safe haptic coupling of two youBot mobile
manipulators.
Publication status: accepted
KU Leuven publication type: IC
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
# (joint) last author

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