2P1-L02 Erlangに基づいたRTミドルウェア用コンポーネントマネージャ(RTミドルウェアとオープンシステム)

抄録

The deployment and configuration of the software components that make up a complete robotic system using a component-based framework is an important step in using that system. We have developed an experimental tool for the organisation and management of components based on RT-Middleware. It is based on the supervision tree concept from the Erlang programming language. Components are organised into a hierarchy of sub-systems and managed in groups. The supervision tree ensures that dependencies between components are accurately managed when errors occur.