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Introduction to Mobile Robot Control by Spyros G Tzafestas

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14

Generic Systemic and Software Architectures for Mobile Robot Intelligent Control

This chapter is concerned with systemic and software architectures that can be used for integrating controllers and high-level functional units to achieve overall intelligent performance of a mobile robot. Software architectures help to deal with the high degree of heterogeneity among the subsystems involved, to face strict operational constraints posed by real-time interactions with the robot’s environment, and to treat the system’s complexity that goes beyond the capabilities of a single designer.

The purpose of this chapter is to provide a tour to fundamental concepts and architectures that integrate low-, medium-, and high-level control and planning functions ...

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