A microcontroller-based architecture for locally intelligent robot agents

This paper describes the realization of a modular distributed control architecture specifically designed to control locally intelligent robot agents for the small or middle size league of Robocup. For the autonomy and robustness of the onboard control system with intelligent sensors and actuators, a microcontroller-based flexible and extensible architecture is proposed. The low-level intelligent sensing and actuating functions are combined with high-level behavioural procedures to provide distributed autonomous robot control intelligence.