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

Volume

1

fYear

1996

fDate

4-8 Nov 1996

Firstpage

162

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.1996.570655

Filename

570655