The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution of the paper is twofold. First, we introduce an open-source actor-oriented framework that abstracts the common robotic uses of middlewares, optimizers, and simulators. Using this framework, we then present a pipeline that implements the model-based design methodology. The components of the proposed framework are generic, and they can be interfaced with any tool supporting model-based design. We demonstrate the effectiveness of the approach describing the application of the resulting synchronous dataflow architecture to the design of a balancing controller for the YARP-based humanoid robot iCub. This example exploits the interfacing with Simulink and Simulink Coder.
@article{arxiv.1906.02286,
title = {A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers},
author = {Diego Ferigo and Silvio Traversaro and Francesco Romano and Daniele Pucci},
journal= {arXiv preprint arXiv:1906.02286},
year = {2020}
}