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.

Software

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

54
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Robot4
SSoSoCoCwCwwaararere4e44
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AAAcctctutuuaaattotoorr4r4 4
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Robot4
SSooCCwwaarree44
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SSSeeennnssosoorrr4 4 4
AAAcctctutuuaaattotoorr4r4 4
Physical4Environment4
84
MulHple4Kinds4of4Robots4

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

Heterogeneity4Challenge4
134
Different4Drivers4&4Protocols4
Different4low/level4algorithms4
ImplementaHons4
exist4
144
Robot4
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AAllggoo44 C,(C++(
Python(
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4
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?( 44
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4
AAAcctctutuuaaattotoorr4r4 4
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Robot4
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44
4
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Physical4Environment4

174
Robot4
ACAcocttmuuapattuootrre4 4r4
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Python4
SSSeeennnssosoorrr4 4 4
44
4
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Physical4Environment4
184
Robot4
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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

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

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

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

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(

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

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+(

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

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

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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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Talking to Robots in Pharo