ROAR: Resource oriented agent architecture for the autonomy of robots

This paper presents a framework to organize the various processes that endow a robot with autonomy. The main objectives are to allow the achievement of a variety of missions without an explicit writing of control schemes by the developer, and the possibility to augment the robot capacities without any major rewriting. The proposed architecture relies on a partition of the decisional layer in separate resources, each one managed by a specific agent. The mechanisms that guarantee the good use of each resource and manage the network of agent into a coherent system are depicted, and illustrated in the case of an autonomous navigation mission.