CyPhyHouse: A Programming, Simulation, and Deployment Toolchain for Heterogeneous Distributed Coordination (1910.01557v2)

Abstract: Programming languages, libraries, and development tools have transformed the application development processes for mobile computing and machine learning. This paper introduces the CyPhyHouse - a toolchain that aims to provide similar programming, debugging, and deployment benefits for distributed mobile robotic applications. Users can develop hardware-agnostic, distributed applications using the high-level, event driven Koord programming language, without requiring expertise in controller design or distributed network protocols. The modular, platform-independent middleware of CyPhyHouse implements these functionalities using standard algorithms for path planning (RRT), control (MPC), mutual exclusion, etc. A high-fidelity, scalable, multi-threaded simulator for Koord applications is developed to simulate the same application code for dozens of heterogeneous agents. The same compiled code can also be deployed on heterogeneous mobile platforms. The effectiveness of CyPhyHouse in improving the design cycles is explicitly illustrated in a robotic testbed through development, simulation, and deployment of a distributed task allocation application on in-house ground and aerial vehicles.

• The paper introduces CyPhyHouse as a toolchain that simplifies distributed robotics using a high-level, hardware-agnostic language and platform-independent middleware.
• It demonstrates the ability to simulate and deploy multi-agent applications with less than 50 lines of code, emphasizing efficiency and ease of use.
• The research highlights improvements in development cycles and distributed coordination, making complex robotic systems more accessible.

CyPhyHouse: Enhancing Distributed Robotics Development

The research paper introduces CyPhyHouse, an innovative toolchain designed to streamline the development, simulation, and deployment of distributed mobile robotic applications. CyPhyHouse significantly simplifies the process for developers by abstracting away much of the complexity traditionally associated with programming distributed systems. This is achieved without requiring users to possess deep expertise in network protocols or controller design.

Key Features and Contributions

CyPhyHouse stands out due to several distinct features and contributions:

1. Hardware-Agnostic Language: The toolchain leverages a high-level, event-driven programming language that allows for hardware-agnostic development of distributed applications. This language facilitates the creation of applications that can run seamlessly across various platforms without modification, thus enhancing portability and ease of use.
2. Platform-Independent Middleware: The middleware layer implements key functionalities using standard algorithms for essential tasks such as path planning (e.g., Rapidly-exploring Random Trees - RRT) and control (e.g., Model Predictive Control - MPC). This modular middleware is crucial as it abstracts the complexities of underlying hardware and provides an interface that ensures the portability of applications across different robotic platforms.
3. Concurrent Simulation and Deployment: CyPhyHouse offers a high-fidelity, scalable, and multi-threaded simulator that allows developers to simulate their applications across dozens of heterogeneous agents. The same code used in simulation can be directly deployed on physical robots, illustrating seamless continuity from development through to real-world application.
4. Distributed Coordination Support: It provides robust support for distributed coordination and mutual exclusion, addressing one of the more challenging aspects of developing applications for systems of multiple, possibly heterogeneous, robots. Shared variable communication across robots is a key feature that simplifies the implementation of coordination protocols.

Numerical Results and Applications

The toolchain's effectiveness is demonstrated through the development and deployment of a distributed task allocation application on both ground and aerial vehicles within a robotic testbed. Experimental results highlight CyPhyHouse's ability to significantly improve design cycles and reduce the complexity typically associated with these processes. Notably, the paper reports successful deployment and execution of a complex application using less than 50 lines of code, which underscores the system's ability to simplify distributed programming tasks.

Implications and Future Directions

CyPhyHouse has significant implications for both practical applications and theoretical research. Practically, it lowers the barrier of entry for developing distributed robotic applications, allowing a wider array of developers to innovate in this space. Theoretically, it provides a platform for experimenting with distributed algorithms and developing new methodologies for multi-robot systems.

Future research could explore enhancements in the middleware's ability to handle more complex network conditions and further improvements in simulation fidelity. Additionally, extending the language's capabilities to support more sophisticated coordination algorithms and real-time responsiveness could open new avenues for complex task automation in distributed environments.

Conclusion

In summary, CyPhyHouse represents a significant advancement in the development toolsets available for distributed robotics, offering a robust, flexible, and user-friendly platform that aligns with modern development paradigms of abstraction and modularity. It stands to greatly facilitate innovation in distributed robotic systems, reducing the overhead traditionally required and paving the way for more complex and capable robotic applications.