Title :
Applying the Organic Robot Control Architecture ORCA to Cyber-Physical Systems
Author :
Maas, Raphael ; Maehle, Erik ; Grosspietsch, Karl-Erwin
Author_Institution :
Inst. of Comput. Eng., Univ. of Lubeck, Lubeck, Germany
Abstract :
This paper presents an overview of the Organic Robot Control Architecture (ORCA) and its previous applications. The architecture supports the decentralized operation and organization of autonomous subsystems and the avoidance of states that are considered as unhealthy. Additionally the paper discusses the application of ORCA in the context of cyber-physical systems (CPS), as CPS share common characteristics with organically controlled system, such as self-organization, self-configuration, self-optimization and other ones. This is underlined by an exemplary CPS layout that follows the ORCA design principles.
Keywords :
collision avoidance; control system synthesis; decentralised control; mobile robots; multi-robot systems; CPS; ORCA design principles; autonomous subsystem organization; cyber-physical systems; decentralized operation; organic robot control architecture; unhealthy state avoidance; Computer architecture; Context; Joints; Legged locomotion; Monitoring; Robot sensing systems; adaptive filters; control architecture; organic computing; self-x;
Conference_Titel :
Software Engineering and Advanced Applications (SEAA), 2012 38th EUROMICRO Conference on
Conference_Location :
Cesme, Izmir
Print_ISBN :
978-1-4673-2451-9
DOI :
10.1109/SEAA.2012.74
