Title :
A dynamically configurable control architecture for autonomous mobile robots
Author :
Sousa, J. Borges ; Pereira, F. Lobo ; da Silva, E. Pereira
Author_Institution :
Fac. de Engenharia, Porto Univ., Portugal
Abstract :
This paper presents a dynamically configurable architecture for the control of autonomous mobile robots based on hierarchic structure whose three levels, organization, coordination and functional layer, are organized linguistically. The main contribution is the concept of dynamic reconfigurability where the notion of architecture coordinator plays a crucial role. The design of the functional layer establishes the primitives for dynamic configuration
Keywords :
computational linguistics; grammars; hierarchical systems; intelligent control; mobile robots; path planning; robot dynamics; architecture coordinator; autonomous mobile robots; control architecture; coordination layer; dynamic configuration; dynamically configurable control; functional layer; grammar; hierarchic structure; linguistic approach; mission planning; organization layer; primitive function; Actuators; Computer architecture; Computer errors; Control systems; Design methodology; Mobile robots; Payloads; Redundancy; Specification languages; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479193
