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A dynamically configurable control architecture for autonomous mobile robots

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3 Author(s)
Borges Sousa, J. ; Fac. de Engenharia, Porto Univ., Portugal ; Lobo Pereira, F. ; Pereira da Silva, E.

This paper presents a dynamically configurable architecture for the control of autonomous mobile robots based on hierarchic structure whose three levels, organization, coordination and functional layer, are organized linguistically. The main contribution is the concept of dynamic reconfigurability where the notion of architecture coordinator plays a crucial role. The design of the functional layer establishes the primitives for dynamic configuration

Published in:

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on  (Volume:4 )

Date of Conference:

13-15 Dec 1995

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