An architectural design pattern proposal for mobile robot systems

This work proposes an architectural design pattern (ADP) for building autonomous mobile robot systems (MRS). This pattern is also applicable to other autonomous complex systems (ACS). This work results in a proposal to help MRS project managers and engineers estimate the probability if an MRS will succeed or fail. Furthermore, this proposal offers the possibility to detect in advance the potential MRS problems with the help of monitoring and controlling components, adjust the project management pathways, and define the problem sources as well as their possible solutions, in order to deliver a robust autonomous system.