Talking to Robots in Pharo

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This document discusses challenges in robotics software development. It describes the heterogeneity of different robots with varying sensors, actuators, sizes, and computing capabilities. Developing software for multiple robot types poses difficulties with different drivers, protocols, and low-level algorithms. The document also outlines other challenges including resource constraints, hardware and software integration, changing conditions, and safety. It proposes a methodology for safe test-driven development of robotics software.

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Talking to Robots in Pharo

1. Talking(to( with( Noury&Bouraqadi,&Luc&Fabresse,&Jannik&Laval& h"p://car.mines/douai.fr4 Very long-term goal! 44 4Current4Robots4

2. 54 Robots4at4our4lab4 64 Robot4 SSoSoCoCwCwwaararere4e44 ACAcocttmuuapattuootrre4 4r4 SSSeeennnssosoorrr4 4 4 AAAcctctutuuaaattotoorr4r4 4 Physical4Environment4 74 Robot4 SSooCCwwaarree44 ACAcocttmuuapattuootrre4 4r4 SSSeeennnssosoorrr4 4 4 AAAcctctutuuaaattotoorr4r4 4 Physical4Environment4 84 MulHple4Kinds4of4Robots4

3. 94 MulHple4Kinds4of4Robots4 Noury4Bouraqadi4–4JM2L420104 104 MulHple4Kinds4of4Robots4 Heterogeneity4Challenge4 • Different4sensors4&4actuators4 • Different4shapes4&4sizes44 • Different4compuHng4capabiliHes4 114 Heterogeneity4Challenge4 124 Different4Drivers4&4Protocols4 Different4low/level4algorithms4

4. Heterogeneity4Challenge4 134 Different4Drivers4&4Protocols4 Different4low/level4algorithms4 ImplementaHons4 exist4 144 Robot4 ACAcocttmuuapattuootrre4 4r4 AAllggoo44 C,(C++( Python( SSSeeennnssosoorrr4 4 4 44 4 AAAcctctutuuaaattotoorr4r4 4 Physical4Environment4 154 Robot4 ?( 44 ACAcocttmuuapattuootrre4 4r4 AAllggoo44 C,4C++4 Python4 SSSeeennnssosoorrr4 4 4 4 AAAcctctutuuaaattotoorr4r4 4 Physical4Environment4 164 Robot4 AAllggoo44 C,4C++4 Python4 Middleware4 ACAcocttmuuapattuootrre4 4r4 SSSeeennnssosoorrr4 4 4 44 4 AAAcctctutuuaaattotoorr4r4 4 Physical4Environment4

5. 174 Robot4 ACAcocttmuuapattuootrre4 4r4 AAllggoo44 C,4C++4 Python4 SSSeeennnssosoorrr4 4 4 44 4 AAAcctctutuuaaattotoorr4r4 4 Physical4Environment4 184 Robot4 ACAcocttmuuapattuootrre4 4r4 AAllggoo44 C,4C++4 Python4 SSSeeennnssosoorrr4 4 4 44 4 AAAcctctutuuaaattotoorr4r4 4 Physical4Environment4 Robot4Guide4using4 194 • Museum4 • Hospital4 • Shopping4Mall4 • …4 Robot4Guide4using4 204 • Museum4 • Hospital4 • Shopping4Mall4 • …4

6. Laser4Scans4!4Map4 Annotated4Map4 Robot4Guide4using4 234 Proprietary4SoCware4 RRRaaannngggeeefififinnndddeeerr4r44 OOddoommeetteerr44 MMoottoorr44 Robot4Guide4using4 244 Path44 Planner4 LocalizaHon4 System4 Proprietary4SoCware4 RRRaaannngggeeefififinnndddeeerr4r44 OOddoommeetteerr44 MMoottoorr44

7. Robot4Guide4using4 254 Path44 Planner4 LocalizaHon4 System4 App4 Bridge4 Proprietary4SoCware4 RRRaaannngggeeefififinnndddeeerr4r44 OOddoommeetteerr44 MMoottoorr44 Talking(to( with( Talking(to( with( Talking(to( with( (Talk(Today)(

8. More4Challenges4 294 More4Challenges4 304 Resource4 Constraints4 (RAM,4CPU,4 Ba"ery...)4 Hardware4 +4SoCware4 IntegraHon4 Changing4 CondiHons4 More4Challenges4 314 Self( Adapta;on( Changing4 CondiHons4 Resource4 Constraints4 (RAM,4CPU,4 Ba"ery...)4 Hardware4 +4SoCware4 IntegraHon4 More4Challenges4 324 Smalltalk( +(FPGA( (Talk(Tomorrow)( Resource4 Constraints4 (RAM,4CPU,4 Ba"ery...)4 Hardware4 +4SoCware4 IntegraHon4

9. More4Challenges4 334 TDD( Hardware4 +4SoCware4 IntegraHon4 More4Challenges4 344 TDD4 Hardware4 +4SoCware4 IntegraHon4 354 Robot4 SSoSoCoCwCwwaararere4e44 ACAcocttmuuapattuootrre4 4r4 SSSeeennnssosoorrr4 4 4 AAAcctctutuuaaattotoorr4r4 4 Physical(Environment( 364 Robot4 SSoSoCoCwCwwaararere4e44 Safety( ACAcocttmuuapattuootrre4 4r4 SSSeeennnssosoorrr4 4 4 AAAcctctutuuaaattotoorr4r4 4 Physical(Environment(

10. 374 Simula;on( Safety( 384 Noise4 SimulaHon4 Resources4 Failure4 Asynchrony4 Precision4 Methodology4for4Safe4TDD4 394 • Ensure4emergency4stop4working!4 • Order4tests4 – Sensors4before4actuators4 – Controlled4environments4before4open4ones4 – StaHc4environments4before4dynamic4ones4 • Run4test4only4if4prerequisites4pass4 Methodology4for4Safe4TDD4 404 • Ensure4emergency4stop4working!4 • Order4tests4 – Sensors4before4actuators4 – Controlled4environments4before4open4ones4 – StaHc4environments4before4dynamic4ones4 • Run4test4only4if4prerequisites4pass4

11. Methodology4for4Safe4TDD4 414 • Ensure4emergency4stop4working!4 • Order4tests4 – Sensors4before4actuators4 – Controlled4environments4before4open4ones4 – StaHc4environments4before4dynamic4ones4 • Run4test4only4if4prerequisites4pass4 Methodology4for4Safe4TDD4 424 • Ensure4emergency4stop4working!4 • Order4tests4 – Sensors4before4actuators4 – Controlled4environments4before4open4ones4 – StaHc4environments4before4dynamic4ones4 • Run4test4only4if4prerequisites4pass4 BoTest4 Framework4 434 the44 Future4 is4 RoboHcs4 Let’s44make4it4with44 Smalltalk4 444 10(000(000+(

12. Big4Players4Invest4in4RoboHcs4 • Amazon4Drones4for4Parcel4Delivery4 454 Big4Players4Invest4in4RoboHcs4 • Google4Self/Driving4Car4 4 464 Big4Players4Invest4in4RoboHcs4 • Google4Self/Driving4Car4 4 474 Google4Bought484 RoboHcs4Companies4in4 2013!4 484 the44 Future4 is4 RoboHcs4 Let’s44make4it4with44 Smalltalk4

13. 494 the44 Future4 is4 Talking(to( with( RoboHcs4 Let’s44make4it4with44 Smalltalk4 Noury&Bouraqadi,&Luc&Fabresse,&Jannik&Laval& h"p://car.mines/douai.fr4

Talking to Robots in Pharo

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