A NASREM based architecture for robot control in the sanitary landfill study case

The NASREM architecture is a joint effort of NASA and USA National Bureau of Standard devoted to define a reference model for telerobot control system applications. Environmental protection systems are receiving much attention when the human presence has to be avoided, due to the harmful and dangerous situations. Sanitary landfill management is a very challenging task as it requires an adequate recognition of the working area and complex decision making activity based on the ´state´ of it. The authors approach the problem of sanitary landfill management as an instance of a robotic system. According to this view, propose an architecture that revises NASREM concepts in order to make them suitable for the application. This work represents one of the few attempts to adapt NASREM advanced control theory to an actual working environment.<>