Title :
Specification and validation of a control architecture for autonomous mobile robots
Author :
De Medeiros, Adelardo A D ; Chatila, Raja ; Fleury, Sara
Author_Institution :
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Abstract :
We describe the specification of a software control architecture for autonomous mobile robots. The architecture, designed to provide the robot (in a task-dependent context) with the capacity to react to events but also to intelligently anticipate the future and plan its actions, is based on the decomposition of the robot system into a functional and a decisional level. The article is mainly focused on some aspects of the organisation and of the operation of the system such as execution control, inter-levels communication, reactivity. An important aspect that is developed is the possibility to prove some temporal and logical properties of parts of the system
Keywords :
intelligent control; knowledge representation; mobile robots; planning (artificial intelligence); software engineering; autonomous mobile robots; control architecture; execution control; inter-levels communication; logical properties; reactivity; specification; temporal properties; validation; Capacity planning; Communication system control; Computer architecture; Control systems; Decision making; Delay; Intelligent robots; Mobile robots; Process planning; Real time systems;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570655
