Semantic composition of robotic solver algorithms on graph structures

Abstract

This article introduces a model-based design, implementation, deployment, and execution methodology, with tools supporting the systematic composition of algorithms from generic and domain-specific computational building blocks that prevent code duplication and enable robots to adapt their software themselves. The envisaged algorithms are numerical solvers based on graph structures. In this article, we focus on kinematics and dynamics algorithms, but examples such as message passing on probabilistic networks and factor graphs or cascade control diagrams fall under the same pattern. The tools rely on mature standards from the Semantic Web. They first synthesize algorithms symbolically, from which they then generate efficient code. The use case is an overactuated mobile robot with two redundant arms.