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Specification and validation of a control architecture for autonomous mobile robots

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3 Author(s)
de Medeiros, A.A.D. ; Lab. d''Autom. et d''Anal. des Syst., CNRS, Toulouse, France ; Chatila, R. ; Fleury, S.

We describe the specification of a software control architecture for autonomous mobile robots. The architecture, designed to provide the robot (in a task-dependent context) with the capacity to react to events but also to intelligently anticipate the future and plan its actions, is based on the decomposition of the robot system into a functional and a decisional level. The article is mainly focused on some aspects of the organisation and of the operation of the system such as execution control, inter-levels communication, reactivity. An important aspect that is developed is the possibility to prove some temporal and logical properties of parts of the system

Published in:

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

4-8 Nov 1996