Semantic composition of robotic solver algorithms on graph structures
This article introduces a model-based design, implementation, deployment, and execution methodology, with tools supporting the systematic composition of algorithms from generic and domain-specific computational building blocks that prevent code duplication and enable robots to adapt their software t...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2025-01-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2024.1363150/full |
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| _version_ | 1832582925261996032 |
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| author | Sven Schneider Sven Schneider Nico Hochgeschwender Herman Bruyninckx Herman Bruyninckx Herman Bruyninckx |
| author_facet | Sven Schneider Sven Schneider Nico Hochgeschwender Herman Bruyninckx Herman Bruyninckx Herman Bruyninckx |
| author_sort | Sven Schneider |
| collection | DOAJ |
| description | This article introduces a model-based design, implementation, deployment, and execution methodology, with tools supporting the systematic composition of algorithms from generic and domain-specific computational building blocks that prevent code duplication and enable robots to adapt their software themselves. The envisaged algorithms are numerical solvers based on graph structures. In this article, we focus on kinematics and dynamics algorithms, but examples such as message passing on probabilistic networks and factor graphs or cascade control diagrams fall under the same pattern. The tools rely on mature standards from the Semantic Web. They first synthesize algorithms symbolically, from which they then generate efficient code. The use case is an overactuated mobile robot with two redundant arms. |
| format | Article |
| id | doaj-art-0c496784c0eb49f28b325c8eb0877f52 |
| institution | Kabale University |
| issn | 2296-9144 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj-art-0c496784c0eb49f28b325c8eb0877f522025-01-29T05:21:17ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442025-01-011110.3389/frobt.2024.13631501363150Semantic composition of robotic solver algorithms on graph structuresSven Schneider0Sven Schneider1Nico Hochgeschwender2Herman Bruyninckx3Herman Bruyninckx4Herman Bruyninckx5Department of Computer Science, Institute for AI and Autonomous Systems, Hochschule Bonn-Rhein-Sieg, Sankt Augustin, GermanyDepartment of Mechanical Engineering, KU Leuven, Leuven, BelgiumDepartment of Mathematics and Computer Science, University of Bremen, Bremen, GermanyDepartment of Mechanical Engineering, KU Leuven, Leuven, BelgiumDepartment of Mechanical Engineering, TU/e Eindhoven, Eindhoven, NetherlandsFlanders Make, Lommel, BelgiumThis article introduces a model-based design, implementation, deployment, and execution methodology, with tools supporting the systematic composition of algorithms from generic and domain-specific computational building blocks that prevent code duplication and enable robots to adapt their software themselves. The envisaged algorithms are numerical solvers based on graph structures. In this article, we focus on kinematics and dynamics algorithms, but examples such as message passing on probabilistic networks and factor graphs or cascade control diagrams fall under the same pattern. The tools rely on mature standards from the Semantic Web. They first synthesize algorithms symbolically, from which they then generate efficient code. The use case is an overactuated mobile robot with two redundant arms.https://www.frontiersin.org/articles/10.3389/frobt.2024.1363150/fullsolvers based on graph traversalmodel-based engineeringalgorithm synthesiscode generationcomposability and compositionalitykinematics and dynamics |
| spellingShingle | Sven Schneider Sven Schneider Nico Hochgeschwender Herman Bruyninckx Herman Bruyninckx Herman Bruyninckx Semantic composition of robotic solver algorithms on graph structures Frontiers in Robotics and AI solvers based on graph traversal model-based engineering algorithm synthesis code generation composability and compositionality kinematics and dynamics |
| title | Semantic composition of robotic solver algorithms on graph structures |
| title_full | Semantic composition of robotic solver algorithms on graph structures |
| title_fullStr | Semantic composition of robotic solver algorithms on graph structures |
| title_full_unstemmed | Semantic composition of robotic solver algorithms on graph structures |
| title_short | Semantic composition of robotic solver algorithms on graph structures |
| title_sort | semantic composition of robotic solver algorithms on graph structures |
| topic | solvers based on graph traversal model-based engineering algorithm synthesis code generation composability and compositionality kinematics and dynamics |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2024.1363150/full |
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