Title :
A CORBA-based distributed software architecture for control of service robots
Author :
Knoop, Steffen ; Vacek, Stefan ; Zöllner, Raoul ; Au, Christian ; Dillmann, Rüdiger
Author_Institution :
Inst. for Comput. Design & Fault Tolerance, Karlsruhe Univ., Germany
fDate :
28 Sept.-2 Oct. 2004
Abstract :
This paper presents the distributed robot control software architecture developed for the autonomous service robot Albert2. The development of this architecture is focused on two major issues: modularity and the integration of learning aspects. Each module within the architecture is presented, as well as the underlying event-based communication framework. An approach for integration of learning capabilities is proposed.
Keywords :
control engineering computing; distributed control; distributed object management; learning (artificial intelligence); service robots; CORBA; distributed robot control; distributed software architecture; service robot Albert2; service robots control; Computer architecture; Control systems; Distributed computing; Fault tolerant systems; Gold; Hierarchical systems; Robot control; Robustness; Service robots; Software architecture;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389983
