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An experiment with reactive data-flow tasking in active robot vision

Eric Rutten 1, * Eric Marchand 2, * François Chaumette 2, * 
* Corresponding author
1 SARDES - System architecture for reflective distributed computing environments
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : We present an experiment of the synchronous approach to reactive systems programming, and particularly the SIGNAL language, ap- plied to a significant problem in robot vision: active visual recon- struction. This application consists of the specification of a system dealing with various domains such as robot control, computer vi- sion and transitions between different modes of control. It illustrates the adequacy in such domains of SIGNAL, a data flow programming language and environment. The SIGNAL programming environment features tools for formal specification, analysis, consistency check- ing and code generation. SIGNAL and its language-level extension for task preemption SIGNALGTι ̇ are used at the different levels of the application: data-flow function for the camera motion control (vi- sual servoing), reconstruction method (in parallel to visual servoing, involving the dynamical processes), and reconstruction of complex scenes (with transitions between several robotics tasks). The com- bination of these levels constitutes a hybrid behavior with (sampled) continuous and discrete transitions. These techniques are validated experimentally by an implementation on a robotic cell.
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Submitted on : Friday, November 22, 2013 - 12:16:47 PM
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Eric Rutten, Eric Marchand, François Chaumette. An experiment with reactive data-flow tasking in active robot vision. Software: Practice and Experience, Wiley, 1997, 27 (5), pp.599-621. ⟨10.1002/(SICI)1097-024X(199705)27:5<599::AID-SPE102>3.0.CO;2-K⟩. ⟨hal-00908095⟩



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