@INPROCEEDINGS{macdonald03:_robot_progr_envir,
AUTHOR = {Bruce MacDonald and David Yuen and Sylvia Wong and Evan Woo and Rowan Gronlund and Toby
Collett and F\'elix-\'Etienne Tr\'epanier and Geoff Biggs},
TITLE = {Robot Programming Environments},
BOOKTITLE = {ENZCon2003 10th Electronics New Zealand Conference},
YEAR = {2003},
ADDRESS = {University of Waikato, Hamilton},
MONTH = {September},
ABSTRACT = {Robot programming systems have not kept pace with developments in general purpose
programming environments. Robot systems have special demands related to their complex
interactions in real environments, and their complex sensors and actuators. We focus on
robot programming in a laboratory research environment where robots, operating systems,
hardware platforms, programming languages, and researchers all differ and change. Robot
programming systems must provide appropriate human–robot programming interaction,
programming languages and tools, and distributed infrastructures. We describe our work in
developing a robot programming system, including our three layer distributed CORBA based,
service broker application infrastructure for distributed robot programming, and our
associated graphical and simulation tool which provides a virtual environment with rich
graphics capabilities.}
}
@INPROCEEDINGS{biggs03_acra,
AUTHOR = {Geoffrey Biggs and Bruce MacDonald},
TITLE = {A Survey of Robot Programming Systems},
BOOKTITLE = {Proceedings of the Australasian Conference on Robotics and Automation},
YEAR = 2003,
ADDRESS = {CSIRO, Brisbane, Australia},
MONTH = {December 1--3},
ABSTRACT = {Robots have become significantly more powerful and intelligent over the last decade, and
are moving in to more service oriented roles. As a result robots will more often be used by
people with minimal technical skills and so there is a need for easier to use and more
flexible programming systems. This paper reviews the current state of the art in robot
programming systems. A distinction is made between manual and automatic programming systems.
Manual systems require the user/programmer to create the robot program directly, by hand,
while automatic systems generate a robot program as a result of interaction between the robot
and the human; there are a variety of methods including learning, programming by
demonstration and instructive systems.}
}
@INPROCEEDINGS{biggs05_ciras,
AUTHOR = {Geoffrey Biggs and Bruce MacDonald},
TITLE = {A Design for Dimensional Analysis in Robotics},
BOOKTITLE = {Third International Conference on Computational Intelligence, Robotics and
Autonomous Systems},
YEAR = {2005},
ADDRESS = {Singapore},
MONTH = {December},
ABSTRACT = {Robot programs typically manage a substantial amount of dimensioned data. However,
existing robot programming tools do not directly support the description and manipulation of
dimensioned quantities. A new system is presented for managing dimensioned data in robot
software. The design requirements are described, along with a prototype design for
object–oriented languages. An initial evaluation version is created by extending the Python
interpreter. The dimensions and units commonly used in robot software are provided by
default. The data type can be used in more complex structures such as paths and maps. The
design removes much of the hard work of using and ensuring correctness in dimensional data
and allowing mixing of units using dimensional analysis. The techniques can easily be
integrated into existing programming systems.}
}
@INPROCEEDINGS{biggs05_acra,
AUTHOR = {Geoffrey Biggs and Bruce MacDonald},
TITLE = {On specifying reactivity in robotics},
BOOKTITLE = {Proceedings of the Australasian Conference on Robotics and Automation},
YEAR = 2005,
ADDRESS = {University of New South Wales, Sydney, Australia},
MONTH = {December 5--7},
ABSTRACT = {Robot programming infrastructure needs to improve for robots to achieve their potential.
A key aspect of the programming component is handling responses to events, both expected and
unexpected. This paper presents the current status and trends in specifying reactivity in
robotics. Recent and notable work in event handling is examined. The trends, future
directions and demands for reactivity in robotics are discussed. The current status of
reactive specification methods is found to be less than satisfactory. Recommendations are
given on where future research should focus.}
}
@INBOOK{biggs06_book,
AUTHOR = {Bruce A. MacDonald and Geoffrey Biggs and Toby H.J. Collett and Yuan Hsin Kuo},
TITLE = {Software Engineering for Experimental Robotics},
CHAPTER = {44},
PUBLISHER = {Springer},
YEAR = {2007}
}
@INBOOK{biggs06_book2,
AUTHOR = {Jos\'e Mar\'ia {Ca\~nas} and Vicente Matell\'an and Geoffrey Biggs and Bruce A. MacDonald},
TITLE = {Software Engineering for Experimental Robotics},
CHAPTER = {Sidebar - Programming Commercial Robots},
PUBLISHER = {Springer},
PAGES = {125-132},
YEAR = {2007}
}
@INPROCEEDINGS{biggs06_case,
AUTHOR = {G.M.~Biggs and B.A.~MacDonald},
TITLE = {Evaluation of Dimensional Analysis in Robotics},
BOOKTITLE = {Proc. IEEE Conference on Automation Science and Engineering},
YEAR = {2006},
PAGES = {286--291},
ADDRESS = {Shanghai, China},
MONTH = {October},
ABSTRACT = {Robot programs typically manage a substantial amount of dimensioned data. However,
existing robot programming tools do not directly support the description and manipulation of
dimensioned quantities. A new data type has been proposed for managing dimensioned data in
robot software. The design removes much of the hard work of using and ensuring correctness
in dimensional data and allows mixing of units using dimensional analysis. An initial
implementation has been created by extending the Python interpreter. This paper evaluates
the proposal for dimensioned data in robotic systems, using established qualitative
evaluation criteria for programming languages, based on the design and implementation, human
factors, software engineering, and the application domain. In addition the paper shows that
the method can be formalised, and that it is able to support coordinate systems. A set of
unit tests is reported for the implementation. Together these evaluations show the proposed
dimensioned data system to be implementable, self-consistent, and useful in robotics. The
proposed design improves robot programming where dimensioned data is involved.}
}
@INPROCEEDINGS{biggs06_iros,
AUTHOR = {G.M.~Biggs and B.A.~MacDonald},
TITLE = {Specifying Robot Reactivity in Procedural Languages},
BOOKTITLE = {Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
YEAR = {2006},
PAGES = {3735--3740},
ADDRESS = {Beijing, China},
MONTH = {October},
ABSTRACT = {A key part of programming a robotic system is specifying the responses to events that
the robot may encounter. Existing methods of programming responses include event loops, reactive
languages and hybrid architectures, none of which meet the specific needs of mobile robot
programming. This work presents a design for new semantics for specifying reactivity in
mobile robot programs, one that allows for effective specification of reactive behaviour
within procedural robot programs. An initial evaluation version is implemented in Python.
Events and responses are supported as program objects, and are connected together by new
statements. Programmers specify connections between events and responses anywhere within the
program code, so connections can easily be changed in response to changes in program and
robot state.}
}
@TECHREPORT{biggs06_mrpp,
AUTHOR = {Geoffrey Biggs},
TITLE = {The Mobile Robot Programming Problem},
INSTITUTION = {Department of Department of Electrical and Computer Engineering, The University of
Auckland},
YEAR = {2006},
MONTH = {May},
NUMBER = {No. 630}
}
@INPROCEEDINGS{biggs06_acra,
AUTHOR = {Geoffrey Biggs and Bruce MacDonald},
TITLE = {Generic interfaces for robotic limbs},
BOOKTITLE = {Proceedings of the Australasian Conference on Robotics and Automation},
YEAR = 2006,
ADDRESS = {University of Auckland, New Zealand},
MONTH = {December 6--8},
ABSTRACT = {Generic interfaces to robot hardware can improve the programming process by making it
easier for developers to port applications between different robotic systems. The Player project
provides abstract interfaces to aide porting, but until recently did not have any direct
support for robotic limbs. This paper describes the design and implementation of three new
generic interfaces for robotic limbs and grippers: a low-level interface for controlling
limb joints, a high-level interface for controlling end-effector pose, and an interface for
controlling grippers. The design of the interfaces allows robot applications to quickly be
ported between different robotic limbs and different robots. The interfaces are implemented in
the Player project, with support provided in the driver for Pioneer robots, allowing the
interfaces to be used to control the Pioneer robot arm and gripper. Other drivers are
expected to be developed in the future, providing support for other robotic limbs.}
}
@PHDTHESIS{biggs_thesis,
AUTHOR = {Geoffrey Biggs},
TITLE = {Designing an application-specific programming language for mobile robots},
SCHOOL = {The University of Auckland},
YEAR = {2007},
HOWPUBLISHED = {\url{http://hdl.handle.net/2292/702}}
}
@INPROCEEDINGS{biggs08_robomec,
AUTHOR = {Geoffrey Biggs and Tetsuo Kotoku and Tamio Tanikawa},
TITLE = {ID-tag-based information system for a building demolition robot},
BOOKTITLE = {Robotics and Mechatronics Conference 2008},
YEAR = {2008},
ADDRESS = {Nagano, Japan},
MONTH = {June}
}
@INPROCEEDINGS{biggs08_iros,
AUTHOR = {Geoffrey Biggs and Bruce MacDonald},
TITLE = {Evaluating a reactive semantics for robotics},
BOOKTITLE = {Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
YEAR = {2008},
ADDRESS = {Nice, France},
MONTH = {September},
ABSTRACT = {A key part of programming a robotic system is specifying the responses to events that
the robot may encounter. This is provided by a new language, RADAR. This paper proposes
evaluating robot programming systems work by: a formalisation of the semantics, an
evaluation in terms of criteria that determine a language's suitability for programming, and
a small user study to test the readability of programs written using the semantics. The
evaluation of the reactivity semantics found in the RADAR language shows clear benefits for
programmers.}
}
@INPROCEEDINGS{biggs08_iros_poster,
AUTHOR = {Geoffrey Biggs and Alexei Makarenko and Alex Brooks and Tobias Kaupp and Michael Moser},
TITLE = {Gearbox: Truly reusable robot software (Poster)},
BOOKTITLE = {Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
YEAR = {2008},
ADDRESS = {Nice, France},
MONTH = {September}
}
@ARTICLE{biggs_journal08,
AUTHOR = {Biggs, Geoffrey and Macdonald, Bruce A.},
TITLE = {A pragmatic approach to dimensional analysis for mobile robotic programming},
JOURNAL = {Auton. Robots},
VOLUME = {25},
NUMBER = {4},
YEAR = {2008},
ISSN = {0929-5593},
PAGES = {405--419},
DOI = {http://dx.doi.org/10.1007/s10514-008-9103-x},
PUBLISHER = {Kluwer Academic Publishers},
ADDRESS = {Hingham, MA, USA},
ABSTRACT = {An application--specific approach to the design of a robot programming language may
allow for a language better suited to the unique challenges found when programming in this domain.
One area of robotics programming that can be supported by an application--specific approach is
dimensioned data. Robot programs typically manage a substantial amount of dimensioned data.
However, existing robot programming tools do not directly support the description and
manipulation of dimensioned quantities. A new system is presented for managing dimensioned data
in robot software. The design provides a new primitive data type to support dimensioned data.
Its unique syntax improves program readability and writability. Dimensional consistency is
automatically checked by the system and any errors are reported, significantly easing the
debugging of dimensioned data and improving the reliability of robot software. The data type is
evaluated by common criteria for evaluating programming languages and a small user study, and is
found to be an improvement.}
}
@INPROCEEDINGS{biggs08_idtag,
AUTHOR = {Tetsuo Kotoku and Tamio Tanikawa and Geoffrey Biggs and Bong Keun Kim and Kohtaro Ohba},
TITLE = {IDタグを用いた解体作業支援システム},
BOOKTITLE = {第9回計測自動制御学会システムインテグレーション部門講演会},
YEAR = {2008},
ADDRESS = {Gifu, Japan},
MONTH = {December}
}
@INPROCEEDINGS{biggs09_robomec,
AUTHOR = {Geoffrey Biggs and Tetsuo Kotoku and Tamio Tanikawa},
TITLE = {Ceiling beam screw removal using a robot manipulator},
BOOKTITLE = {Robotics and Mechatronics Conference 2009},
YEAR = {2009},
ADDRESS = {Fukuoka, Japan},
MONTH = {June}
}
@INPROCEEDINGS{biggs09_iros,
AUTHOR = {Geoffrey Biggs and Tetsuo Kotoku and Tamio Tanikawa},
TITLE = {Ceiling beam screw removal using a robotic manipulator},
BOOKTITLE = {Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
YEAR = {2009},
ADDRESS = {St Louis, USA},
MONTH = {October},
ABSTRACT = {Within the larger task of renovating an office building, there are many repetitive tasks
that are suitable for automation. With the decreasing availability of skilled labour and
increasing emphasis on reuse of materials, there is an opportunity to introduce robots that
can replace labour for the simpler tasks. This paper describes a robot to perform the task
of removing tile screws from suspended ceiling beams. The robot uses a specially-designed
tool mounted at the end of an arm. This tool removes screws by turning them between two
rollers. The tool is moved down the beam in a single motion, allowing it to remove many
screws fast with little operator interaction. RT-Middleware is used as the implementation
architecture, which facilitated development by simplifying testing of individual
components.}
}
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