An architecture for indoor navigation
2004 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, 2004, no 2, 1783-1788 p.Conference paper (Refereed)
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, 1783-1788 p.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729 ; 2004
Architecture, Component, Framework, Indoor navigation, Communication, Computer architecture, Computer hardware, Interfaces (computer), Middleware, Navigation, Real time systems, Component based design, Hardware abstraction, Mobile robots
IdentifiersURN: urn:nbn:se:kth:diva-157434ISI: 000221794800288ScopusID: 2-s2.0-3042622152OAI: oai:DiVA.org:kth-157434DiVA: diva2:771172
Proceedings- 2004 IEEE International Conference on Robotics and Automation, 26 April 2004 through 1 May 2004, New Orleans, LA
QC 201412122014-12-122014-12-092014-12-12Bibliographically approved