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A CORBA-based distributed software architecture for control of service robots

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5 Author(s)
S. Knoop ; Inst. for Comput. Design & Fault Tolerance, Karlsruhe Univ., Germany ; S. Vacek ; R. Zollner ; C. Au
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This paper presents the distributed robot control software architecture developed for the autonomous service robot Albert2. The development of this architecture is focused on two major issues: modularity and the integration of learning aspects. Each module within the architecture is presented, as well as the underlying event-based communication framework. An approach for integration of learning capabilities is proposed.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

28 Sept.-2 Oct. 2004