Software Wrappers for Rapid Prototyping JAUS-Based Systems

摘要

Recent experiences with robots in Iraq have proven that robotic technology is useful to the warfighter but tools are needed to rapidly respond to evolving missions. This paper details a methodology for automatic generation of software wrappers using JAUS to simplify prototyping and development of robotic systems (distributed embedded and real-time system software modules). Software wrappers will allow insertion of modules into a visual prototyping environment. The wrappers will intercept module functions and bind them with functions needed to exercise the modules outside of the native environment. Automatic generation of JAUS wrappers will enhance the development environment by reducing rote work and producing consistently behaving module interfaces. The resulting methodology will provide a rapid prototyping environment for use in sensor integration, Operator Control Unit (OCU) development and autonomous vehicle control.