Configuring robots from modules: an object oriented approach

Modular robotics systems model robot resources as distinct functional modules, of which any number may be selected and configured into a modular robot. The process of configuring such a robot is complex; conflicts may arise in control or functionality, and potential benefits may not be fully realized. In this paper we present an approach to modular robotics systems which exploits object oriented techniques. We show how these techniques can be used to model robot resources and how the models can be adapted through the introduction of semantic annotations to accommodate the configuration process. We show specifically how a configuration system can detect conflicts and automatically articulate the functionality that may emerge when modules are combined. We conclude that object oriented concepts can provide a powerful tool for reasoning towards the configuration of modular robotics systems.