Publication detail

Extended Architecture for Autonomous Robots

BŘEZINA, T. EHRENBERGER, Z. HOUŠKA, P. SINGULE, V.

Czech title

Rozšířená architektura autonomních robotů

English title

Extended Architecture for Autonomous Robots

Type

conference paper

Language

en

Original abstract

Many intelligent architectures are studied and designed for autonomous robots control. This contribution proposes one of such architectures. Its aim is to create autonomous activities with possible choice of teleoperator or unsupervised mode of control of robot behaviour in real time and dynamic environment. Conventional three-leveled architecture of autonomous robots is modified by introducing the highest level for mission control, which is in interaction with all lower layers of robot control system. This highest level makes decisions of control type (teleoperator, supervised or autonomous), robot mobility type (HW modularity, serial, parallel or hybrid mechanics) in the environment and of fulfillment of goal tasks with respect to the fact if the robot works by himself or in the group of robots. The aim of authors leads to the implementation of the first version of autonomous architecture on developed omnidirectional and designed walking robot.

Czech abstract

Pro řízení autonomních robotů je studováno i navrženo mnoho inteligentních architektur. Tento příspěvek navrhuje jednu takovou architekturu. Jejím cílem je umožnit autonomní aktivity v reálném čase a dynamickém prostředí s možným výběrem teleoperátorového režimu nebo režimu bez dohledu. Konvenční třívrstvá architektura autonomních robotů je modifikována zavedením nejvyšší vrstvy řízení úkolu, která je ve spojení s nižšími vrstvami systému řízení robotu. Tato nejvyšší vrstva rozhoduje o způsobu řízení (teleoperátor, dohled, autonomní), typu mobility robotu (HW modularita, sériová, paralelní nebo hybridní mechanika) v prostředí a o splnění cílových úkolů s ohledem na to, zda robot pracuje samostatně nebo ve skupině robotů. Záměr autorů vede na implementaci první verze autonomní architektury na vyvinutém všesměrovém a navrženém kráčejícím robotu.

English abstract

Many intelligent architectures are studied and designed for autonomous robots control. This contribution proposes one of such architectures. Its aim is to create autonomous activities with possible choice of teleoperator or unsupervised mode of control of robot behaviour in real time and dynamic environment. Conventional three-leveled architecture of autonomous robots is modified by introducing the highest level for mission control, which is in interaction with all lower layers of robot control system. This highest level makes decisions of control type (teleoperator, supervised or autonomous), robot mobility type (HW modularity, serial, parallel or hybrid mechanics) in the environment and of fulfillment of goal tasks with respect to the fact if the robot works by himself or in the group of robots. The aim of authors leads to the implementation of the first version of autonomous architecture on developed omnidirectional and designed walking robot.

Keywords in English

mobile robot, autonomous operation, deliberative and reactive control

RIV year

2003

Released

24.03.2003

Publisher

Institute of Mechanics of Solids Faculty of Mechanical Engineering Brno University of Technologi

Location

Brno

ISBN

80-214-2312-9

Book

Mechtronics, Robotics and Biomechanics 2003

Edition number

1

Pages count

2

BIBTEX


@inproceedings{BUT9739,
  author="Tomáš {Březina} and Zdeněk {Ehrenberger} and Pavel {Houška} and Vladislav {Singule},
  title="Extended Architecture for Autonomous Robots",
  booktitle="Mechtronics, Robotics and Biomechanics 2003",
  year="2003",
  month="March",
  publisher="Institute of Mechanics of Solids
Faculty of Mechanical Engineering
Brno University of Technologi",
  address="Brno",
  isbn="80-214-2312-9"
}