BittyBuzz：面向微型系统的群体机器人运行时
BittyBuzz: A Swarm Robotics Runtime for Tiny Systems
AI总结：
本文提出 BittyBuzz 运行时，使 Buzz 语言能在仅 32 kB 闪存和 2 kB RAM 的微控制器上支持动态内存管理，并在三类机器人平台上验证其可实现常见群体行为。
摘要：
群体机器人学是一个新兴研究领域，得益于机器人技术的进步及其潜在应用，正吸引越来越多的关注。然而，尽管围绕这一研究领域充满热情，群体机器人的软件开发仍是一项繁琐的工作。这一事实部分源于缺乏专用解决方案，尤其是针对需要大批量生产、成本低廉且可能受到严重资源约束的系统。为解决该问题，我们提出 BittyBuzz，这是一个新型运行时平台：它允许领域专用语言 Buzz 在微控制器上运行，同时保持动态内存管理。BittyBuzz 被设计为可适配小至 32 kB 的闪存（其中包含可供脚本使用的空间），并能在仅 2 kB RAM 的条件下工作。在本文中，我们介绍 BittyBuzz 的实现、它与原始 Buzz 虚拟机的差异，以及它对群体机器人系统的优势。我们展示 BittyBuzz 已成功集成到三个机器人平台中，并具有极小的内存占用；同时开展实验以展示 BittyBuzz 的计算性能。结果表明，BittyBuzz 可有效用于在基于微控制器的系统上实现常见群体行为。
英文摘要：
Swarm robotics is an emerging field of research which is increasingly attracting attention thanks to the advances in robotics and its potential applications. However, despite the enthusiasm surrounding this area of research, software development for swarm robotics is still a tedious task. That fact is partly due to the lack of dedicated solutions, in particular for low-cost systems to be produced in large numbers and that can have important resource constraints. To address this issue, we introduce BittyBuzz, a novel runtime platform: it allows Buzz, a domain-specific language, to run on microcontrollers while maintaining dynamic memory management. BittyBuzz is designed to fit a flash memory as small as 32 kB (with usable space for scripts) and work with as little as 2 kB of RAM. In this work, we introduce the BittyBuzz implementation, its differences from the original Buzz virtual machine, and its advantages for swarm robotics systems. We show that BittyBuzz is successfully integrated with three robotic platforms with minimal memory footprint and conduct experiments to show computation performance of BittyBuzz. Results show that BittyBuzz can be effectively used to implement common swarm behaviors on microcontroller-based systems.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
