DocumentCode
2490463
Title
A CORBA-based distributed software architecture for control of service robots
Author
Knoop, Steffen ; Vacek, Stefan ; Zöllner, Raoul ; Au, Christian ; Dillmann, Rüdiger
Author_Institution
Inst. for Comput. Design & Fault Tolerance, Karlsruhe Univ., Germany
Volume
4
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
3656
Abstract
This paper presents the distributed robot control software architecture developed for the autonomous service robot Albert2. The development of this architecture is focused on two major issues: modularity and the integration of learning aspects. Each module within the architecture is presented, as well as the underlying event-based communication framework. An approach for integration of learning capabilities is proposed.
Keywords
control engineering computing; distributed control; distributed object management; learning (artificial intelligence); service robots; CORBA; distributed robot control; distributed software architecture; service robot Albert2; service robots control; Computer architecture; Control systems; Distributed computing; Fault tolerant systems; Gold; Hierarchical systems; Robot control; Robustness; Service robots; Software architecture;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389983
Filename
1389983
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