Utilization of FraDIA for Development of Robotic Vision Subsystems on the Example of Checkers’ Playing Robot

The paper presents FraDIA, a framework facilitating the creation of vision systems, that can operate as a stand–alone application as well as play a role of a vision subsystem for robotic controllers. The article describes motivations leading to the tool creation, its structure and a method of integration with a MRROC++ system, enabling the development of a robot controllers with visual feedback. The usefulness of the framework is demonstrated on the example of a robot playing checkers. In the application, FraDIA was used to implement two different vision subsystems, and the control system exhibited two behaviors utilizing visual information in two totally different ways: passive, responsible for monitoring the state of the game, and active, in which vision was utilized during the manipulator motion for localization of a pawn to be grasped. Regarding the complexity of the system, a specification method based on agents and transition function was used. The method, consisting of mathematical formulas supplemented by data flow diagrams, enables the reader to understand both the system structure and its behavior.