Abstract
In this paper we describe a design approach for mobile robots which overcomes problems of previous approaches. The problems we address are robustness, reuse and exchangeability of components, flexibility and adaptability. The approach is based on a modularization of hardware and software. Furthermore, we propose a combination of reactive behaviors with classical planning and reasoning techniques as a robust and flexible control solution. We present the modularization approach, introduce the control solution and report practical results of the design approach which is used for developing a robot platform for the RoboCup Middle Size League.
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Steinbauer, G., Fraser, G., Mühlenfeld, A., Wotawa, F. (2004). A Modular Architecture for a Multi-purpose Mobile Robot. In: Orchard, B., Yang, C., Ali, M. (eds) Innovations in Applied Artificial Intelligence. IEA/AIE 2004. Lecture Notes in Computer Science(), vol 3029. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-24677-0_103
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DOI: https://doi.org/10.1007/978-3-540-24677-0_103
Publisher Name: Springer, Berlin, Heidelberg
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