Accession Number : AD1042763


Title :   RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks


Descriptive Note : Conference Paper


Corporate Author : Robotics and Mechatronics Center (RMC) German Aerospace Center Oberpfaffenhofen-Wessling Germany


Personal Author(s) : Brunner,Sebastian G ; Steinmetz,Franz ; Belder,Rico


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/1042763.pdf


Report Date : 09 Oct 2016


Pagination or Media Count : 8


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.


Descriptors :   graphical user interface , computer programming , Data Visualization , software development tools , robots


Subject Categories : Computer Programming and Software
      Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE