Title :
An architecture for dependable autonomous robots
Author :
Ingrand, F. Lix ; Chatila, Raja ; Alami, Rachid
Author_Institution :
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Abstract :
Autonomous robots are complex machines embedding: software modules implementing basic functions such as servo loops to follow a path, or to compute stereo correlation of a pair of images; software to take into account the interactions between the robot components; programs which deal with the supervision and the planning of the mission. These components are integrated within an architecture which defines an organization and a methodology for robot operation.
Keywords :
robots; software architecture; autonomous robots; dependability; programmability; reactivity; robot components; robot operation; robustness; software architecture; Computer architecture; Decision making; Embedded computing; Embedded software; Motion control; Path planning; Robot kinematics; Robustness; Safety; Servomechanisms;
Conference_Titel :
Emerging Technologies and Factory Automation, 2001. Proceedings. 2001 8th IEEE International Conference on
Conference_Location :
Antibes-Juan les Pins, France
Print_ISBN :
0-7803-7241-7
DOI :
10.1109/ETFA.2001.997751
