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An architecture for indoor navigation
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
2004 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, 2004, no 2, p. 1783-1788Conference paper, Published paper (Refereed)
Abstract [en]

This paper is concerned with the design and implementation of a control architecture for a mobile robot that is to navigate in dynamic unknown indoor environments. It is based on the framework of Open Robot Control Software @ KTH, which is discussed and evaluated in this paper. As a hybrid architecture, it is decomposed into several basic components which can be classified as either deliberative or reactive. Each component can concurrently execute and communicate with another using unified communication interfaces. Scalability and portability and reusability are the goals of the design.

Place, publisher, year, edition, pages
2004. no 2, p. 1783-1788
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729 ; 2004
Keywords [en]
Architecture, Component, Framework, Indoor navigation, Communication, Computer architecture, Computer hardware, Interfaces (computer), Middleware, Navigation, Real time systems, Component based design, Hardware abstraction, Mobile robots
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-157434ISI: 000221794800288Scopus ID: 2-s2.0-3042622152OAI: oai:DiVA.org:kth-157434DiVA, id: diva2:771172
Conference
Proceedings- 2004 IEEE International Conference on Robotics and Automation, 26 April 2004 through 1 May 2004, New Orleans, LA
Note

QC 20141212

Available from: 2014-12-12 Created: 2014-12-09 Last updated: 2014-12-12Bibliographically approved

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  • Other locale
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Output format
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