DARC: Next generation decentralized control framework for robot applications

Morten Kjærgaard; Nils Axel Andersen; Ole Ravn

doi:10.1109/ICCA.2013.6565134

DARC: Next generation decentralized control framework for robot applications

Morten Kjærgaard, Nils Axel Andersen, Ole Ravn

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry. It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness.

Original language	English
Title of host publication	Proceedings of 2013 10th IEEE International Conference on Control and Automation
Publisher	IEEE
Publication date	2013
Pages	1598-1602
ISBN (Print)	9781467347075
DOIs	https://doi.org/10.1109/ICCA.2013.6565134
Publication status	Published - 2013
Event	2013 10th IEEE International Conference on Control and Automation (ICCA) - Hangzhou, China Duration: 12 Jun 2013 → 14 Jun 2013

Conference

Conference	2013 10th IEEE International Conference on Control and Automation (ICCA)
Country/Territory	China
City	Hangzhou
Period	12/06/2013 → 14/06/2013

Keywords

Decentralised control
Low-power electronics
Peer-to-peer computing
Robots
Robust control

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10.1109/ICCA.2013.6565134

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title = "DARC: Next generation decentralized control framework for robot applications",

abstract = "This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry. It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness.",

keywords = "Decentralised control, Low-power electronics, Peer-to-peer computing, Robots, Robust control",

author = "Morten Kj{\ae}rgaard and Andersen, {Nils Axel} and Ole Ravn",

year = "2013",

doi = "10.1109/ICCA.2013.6565134",

language = "English",

isbn = "9781467347075",

pages = "1598--1602",

booktitle = "Proceedings of 2013 10th IEEE International Conference on Control and Automation",

publisher = "IEEE",

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note = "2013 10th IEEE International Conference on Control and Automation (ICCA) ; Conference date: 12-06-2013 Through 14-06-2013",

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Kjærgaard, M, Andersen, NA & Ravn, O 2013, DARC: Next generation decentralized control framework for robot applications. in Proceedings of 2013 10th IEEE International Conference on Control and Automation. IEEE, pp. 1598-1602, 2013 10th IEEE International Conference on Control and Automation (ICCA), Hangzhou, China, 12/06/2013. https://doi.org/10.1109/ICCA.2013.6565134

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AU - Andersen, Nils Axel

AU - Ravn, Ole

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AB - This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry. It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness.

KW - Decentralised control

KW - Low-power electronics

KW - Peer-to-peer computing

KW - Robots

KW - Robust control

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M3 - Article in proceedings

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EP - 1602

BT - Proceedings of 2013 10th IEEE International Conference on Control and Automation

PB - IEEE

T2 - 2013 10th IEEE International Conference on Control and Automation (ICCA)

Y2 - 12 June 2013 through 14 June 2013

ER -

DARC: Next generation decentralized control framework for robot applications

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