DHPC Technical Report DHPC-127
A Component-Based Architecture for Mobile Robots
K.A.Hawick, H.A.James, J.E.Story and R.G.Shepherd
Archived 10 October 2002.
Abstract
There has been a great deal of recent interest in robot systems in
general and smart mobile robots in particular. A key challenge in
implementing smart robots involves managing the complexity of the
software architecture. We describe our preliminary design ideas for a
component-based intelligent systems architecture suitable for
specifying behaviours and actions in a mobile robot. Our approach is
based upon a layered structure with a virtual machine controlling and
configuring the lower levels of activities. We employ an agent-based
approach for the higher level functionalities. We are experimenting
with a number of software technologies to build our prototype.
Keywords: component architecture; agents; virtual machine;
middleware.
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