On the design of the PO-ROBOT system

This paper describes the main design options of the PO-ROBOT project. The PO-ROBOT project consists in the design and the implementation of the vehicle and mission management systems of a mobile platform for autonomous transportation, surveillance and inspection in structured and semi-structured industrial environments. This project is funded by the NATO programme science for stability and the institute for systems and robotics. The vehicle and mission management systems are based in a hierarchical control structure organized linguistically permitting the parallel execution of tasks in real-time. This architecture is composed by the following three levels structured according to the increasing precision with decreasing intelligence principle: organization, coordination and functional layer.