Interfacing different layers of a multilayer architecture for sensorimotor systems using the object-oriented framework SMARTSOFT

Author

Schlegel, Christian ; Wörz, Robert

Author_Institution

Res. Inst. for Appl. Knowledge Process., Ulm, Germany

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

195

Lastpage

202

Abstract

Advanced mobile robots have to cope with many different situations and have to fulfil their tasks even in dynamic environments. Furthermore, there is an increasing demand that those systems perform not only a single task but show a whole set of different capabilities. This includes the concurrent and interruptable execution of several tasks. Reliably performing different tasks over long periods of time not only requires advanced basic skills, but also an appropriate robot control architecture. This includes, e.g., mechanisms to coordinate the execution of competing tasks. We present the architecture used on our B21 demonstrator of the SFB 527. A special emphasis is laid on aspects of our supporting software framework, SMARTSOFT, and the implemented set of skills

Keywords

distributed object management; intelligent control; mobile robots; object-oriented databases; object-oriented programming; robot programming; B21 demonstrator; SFB 527; SMARTSOFT; advanced basic skills; advanced mobile robots; competing tasks; dynamic environments; interruptable execution; multilayer architecture; object oriented framework; robot control architecture; sensorimotor systems; supporting software framework; Adaptive systems; Buildings; Collision avoidance; Computer architecture; Machine vision; Mobile robots; Nonhomogeneous media; Robot control; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Mobile Robots, 1999. (Eurobot '99) 1999 Third European Workshop on

Conference_Location

Zurich

Print_ISBN

0-7803-5672-1

Type

conf

DOI

10.1109/EURBOT.1999.827640

Filename

827640