2002 · 74 citations · 5 references
EngineeringAutonomous SystemsRobotics EngineeringMobile RoboticsRobot DesignRoboticsMobile Robot ArchitecturesMobile Robot ControlRobot Control ArchitectureBehavior-based RoboticsDeliberative Robot ArchitecturesHierarchical Robot ArchitecturesHybrid Robot ArchitecturesReactive Robot ArchitecturesService Robot PlatformsService RoboticsSoftware Architecture For Robotics
The paper discusses the architecture of a mobile service robot. The authors aim to design a scalable, flexible architecture that is easy to reconfigure. The system is a hybrid deliberative/reactive behavioral architecture built in an object‑oriented fashion with three layers—deliberation, task execution, and reactive—using a selection strategy where planning is viewed as configuration. The architecture was successfully tested in numerous lab missions, including deployment in a mock living room.
The architecture for a mobile service robot is discussed. The paper covers aspects related to overall design and implementation. The robot architecture is of the hybrid deliberative/reactive behavioral type. The strategy is selection where planning is viewed as configuration. The architecture can be divided into three layers, one for deliberation, one for task execution, and one reactive layer. Scalability and a high degree of flexibility have been primary design goals, making it easy to reconfigure the system. The system has been built in an object oriented fashion. An application of the architecture has been tested in a significant number of missions in our lab, where one room has been setup as an ordinary living room.
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