RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks

Abstract

Robotic tasks are becoming increasingly complex, and with this also the robotic systems. This requires new tools to manage this complexity and to orchestrate the systems to fulfill demanding autonomous tasks. For this purpose, we developed a new graphical tool targeting at the creation and execution of robotic tasks, called RAFCON. These tasks are described in hierarchical state machines supporting concurrency. A formal notation of this concept is given. The tool provides many debugging mechanisms and a GUI with a graphical editor,allowing for intuitive visual programming and fast prototyping.The application of RAFCON for an autonomous mobile robotin the SpaceBotCamp competition has already proved to besuccessful.

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Document Details

Document Type
Technical Report
Publication Date
Oct 09, 2016
Accession Number
AD1042763

Entities

People

  • Franz Steinmetz
  • Rico Belder
  • Sebastian G Brunner

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Alphabets
  • Case Studies
  • Competition
  • Computer Programming
  • Computer Programs
  • Computer Vision
  • Computers
  • Debugging
  • Detection
  • Engineering
  • Flow
  • Graphical User Interface
  • Hypervelocity Flow
  • Language
  • Psychology
  • Software Development
  • User Interface

Fields of Study

  • Computer science

Readers

  • Database Systems and Applications
  • Small Business Innovation Research Program (SBIR) EDI Research and Innovation.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control