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LICAs: a modular architecture for intelligent control of mobile robots

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5 Author(s)
Hu, H. ; Dept. of Eng. Sci., Oxford Univ., UK ; Brady, J.M. ; Grothusen, J. ; Li, F.
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A modular architecture used for intelligent control of mobile robots has been developed at Oxford University over the last few years. This architecture takes the form of multiple sensing and control layers, based on “locally intelligent control agents” (LICAs). Central to such a design is the concept of “communication sequential processes” (CSP). This paper describes briefly the LICA-based control architecture for an Oxford mobile robot. Two typical operations of sonar and active vision systems have been given to demonstrate its flexibility and efficiency. Such a modular and unified system has been licensed commercially and allows for the integration of all kinds of sensors and actuators to meet future needs

Published in:

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

5-9 Aug 1995