{"title":"A distributed evolvable control architecture for mobile robots","authors":"R. de Camargo, R. Chatila, R. Alami","doi":"10.1109/ICAR.1991.240489","DOIUrl":null,"url":null,"abstract":"The organization of a robot system, or its control structure, determines its capacities to achieve tasks and to react to events. The authors present such a structure that stresses two aspects they believe are essential: reactivity and goal-driven context-guided control. In order to be easily extensible, this control structure is based on a classification of robot processing functions in four basic types and the formal definition of the notion of module, an entity that embeds several functions; relationships and exchanges between modules are defined so as to comply with an evolutive principle.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1991.240489","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 14
Abstract
The organization of a robot system, or its control structure, determines its capacities to achieve tasks and to react to events. The authors present such a structure that stresses two aspects they believe are essential: reactivity and goal-driven context-guided control. In order to be easily extensible, this control structure is based on a classification of robot processing functions in four basic types and the formal definition of the notion of module, an entity that embeds several functions; relationships and exchanges between modules are defined so as to comply with an evolutive principle.<>
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