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Integrated Debugging of Large Modular Robot Ensembles

 

In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07

Benjamin D. Rister, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry

April, 2007

Abstract


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@inproceedings{rister-icra07,
  author = {Rister, Benjamin D. and Campbell, Jason D. and Pillai,
     Padmanabhan and Mowry, Todd C.},
  title = {Integrated Debugging of Large Modular Robot Ensembles},
  booktitle = {Proceedings of the IEEE International Conference on
     Robotics and Automation {ICRA '07}},
  venue = {IEEE International Conference on Robotics and Automation
     (ICRA)},
  keywords = {Debugging, Distributed Systems},
  month = {April},
  abstract = {Creatively misquoting Thomas Hobbes, the process of
     software debugging is nasty, brutish, and all too long. This
     holds all the more true in robotics, which frequently involves
     concurrency, extensive nondeterminisism, event-driven components,
     complex state machines, and difficult platform limitations.
     Inspired by the challenges we have encountered while attempting
     to debug software on simulated ensembles of tens of thousands of
     modular robots, we have developed a new debugging tool
     particularly suited to the characteristics of highly parallel,
     event- and state-driven robotics software. Our state capture and
     introspection system also provides data that may be used in
     higher-level debugging tools as well. We report on the design of
     this promising debugging system, and on our experiences with it
     so far.},
  year = {2007},
  url = {http://www.cs.cmu.edu/~claytronics/papers/rister-icra07.pdf},
}

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