Mobile Intelligent Autonomous Systems

16	Robotic and Moving Vehicle Architectures Jitendra R. Raol

CONTENTS

16.1    Introduction

16.2    Architectural Design Aspects

16.2.1    System Reliability

16.2.2    Generalization Feature

16.2.3    System’s Adaptability

16.2.4    System’s Modularity

16.2.5    Autonomous Behaviour

16.2.6    Robustness Properties

16.2.7    Extensibility of Task Performance

16.2.8    Reactivity

16.2.9    Artificial Intelligence

16.2.10  Flexibility

16.3    Robotic Sense–Plan–Act Paradigm

16.3.1    Sensing

16.3.2    Planning

16.3.3    Acting–Action

16.4    Robotic Architectures

16.4.1    Function-Based Architecture

16.4.2    Behaviour-Based Architectures

16.4.3    Hybrid Architecture

16.5    Coordination Functions in Behaviour-Based Architecture

16.6    Layered ...