On one approach to organizing rapid prototyping of robots under rigid constraints

Abstract

The paper describes an approach to the rapid prototyping of ground-based group robotic systems by small teams of developers in a short time. Prototyping is carried out by sequentially constructing representations of various levels of abstraction. It is demonstrated that the main resource costs in the transition between these levels can be reduced by utilizing standard behavioral models of robots and applying libraries of typical software design solutions. Behavioral models based on the mechanism of meta-automata can use abstract implementations at the mathematical, simulation and physical levels to obtain quite practical and efficient solutions. ROS is used as the basic tool for developing control systems and conducting physical modeling on lower levels. The developed approach is demonstrated on the example of a transport problem solved by robots with the simplest sensors without global navigation.