Hierarchical distributed architectures for autonomous mobile robots: a case study

• Type: Article in International Conference Proceedings Book
• Date: 2007

Authors

Azevedo, JL (Author) Other; Cunha, B (Author) Other; Luis Almeida (Author) Other

Conference proceedings International

Title: ETFA 2007: 12TH IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, VOLS 1-3

Pages: 973-980

12th IEEE International Conference on Emerging Technologies and Factory Automation

Patras, GREECE, SEP 25-28, 2007

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 8 Citations

Other information

Authenticus ID: P-004-D2E

DOI: 10.1109/efta.2007.4416889

Abstract (EN): Robots are becoming commonplace in unstructured and dynamic environments, ranging from homes to offices, public sites, catastrophe sites, military, scenarios. Achieving adequate performance in such circumstances requires complex control architectures, mixing adequately deliberative and reactive capabilities. This mixing needs to be properly addressed from both the software and hardware architectures point of view and, particularly, the mapping of the former onto the latter, in order to reduce mutual interference between concurrent behaviors and support the desired coordination with adequate level of reactivity. This paper discusses the benefits of using hierarchical distributed hardware architectures and presents the case study of the CAMBADA soccer robots developed at the University of Aveiro, Portugal. These robots use a distributed hardware architecture with a central computer to carry, out vision sensing, global coordination and deliberative functions and a low-level distributed sensing and actuation system based on a set of simple microcontroller nodes interconnected with a Controller Area Network (CAN).

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8