Synchronous Robotic Framework
Nagarathna Hema Balaji, Jyothsna Kilaru, Oscar Morales-Ponce

TL;DR
SyROF is a synchronous robotic testbed designed to simplify the development of robotic swarms, providing high-level programming, synchronization, failure detection, and common knowledge sharing to lower entry barriers.
Contribution
The paper introduces SyROF, a novel synchronous robotic framework with unique synchronization and failure detection features that facilitate swarm implementation for educational purposes.
Findings
Enables fast implementation of robotic swarms
Provides a high-level programming environment for TIOA
Includes mechanisms for synchronization and failure detection
Abstract
We present a synchronous robotic testbed called SyROF that allows fast implementation of robotic swarms. Our main goal is to lower the entry barriers to cooperative-robot systems for undergraduate and graduate students. The testbed provides a high-level programming environment that allows the implementation of Timed Input/Output Automata (TIOA). SyROF offers the following unique characteristics: 1) a transparent mechanism to synchronize robot maneuvers, 2) a membership service with a failure detector, and 3) a transparent service to provide common knowledge in every round. These characteristics are fundamental to simplifying the implementation of robotic swarms. The software is organized in five layers: The lower layer consists of a real-time publish-subscribe system that allows efficient communication between tasks. The next layer is an implementation of a Kalman filter to estimate the…
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