Title :
A distributed evolvable control architecture for mobile robots
Author :
De Camargo, Rogkrio Ferraz ; Chatila, Raja ; Alami, Rachid
Author_Institution :
LAAS-CNRS, Toulouse, France
Abstract :
The organization of a robot system, or its control structure, determines its capacities to achieve tasks and to react to events. The authors present such a structure that stresses two aspects they believe are essential: reactivity and goal-driven context-guided control. In order to be easily extensible, this control structure is based on a classification of robot processing functions in four basic types and the formal definition of the notion of module, an entity that embeds several functions; relationships and exchanges between modules are defined so as to comply with an evolutive principle.<>
Keywords :
control system analysis; distributed control; mobile robots; control structure; distributed evolvable control architecture; goal-driven context-guided control; mobile robots; module; processing functions; reactivity; Centralized control; Control systems; Distributed control; Event detection; Hardware; Mobile robots; Robot control; Robot sensing systems; Robustness; Stress control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240489
