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Proceedings Article

Towards A Modular Robotic Architecture

[+] Author Affiliations
Walter A. Aviles, Robin T. Laird, Margaret E. Myers

Naval Ocean Systems Center (United States)

Proc. SPIE 1007, Mobile Robots III, 271 (March 10, 1989); doi:10.1117/12.949105
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From Conference Volume 1007

  • Mobile Robots III
  • William J. Wolfe
  • Boston, MA | November 07, 1988

abstract

Despite the seemingly dramatic differences in the con-figuration of individual robots, all mobile platforms are required to perform the same basic tasks and gather certain basic types of information about their environment. In recognition of this fact, work has been initiated on a high-level robotic control and integration architecture known as the Generic Robotic Processing Architecture (GRPA). GRPA is designed to provide a flexible, standard interface between users and a wide variety of robotic processing sys-tems. Under GRPA, the user is able to "compile" a hardware description of a particular robot into data struc-tures used by its Virtual Systems Interface (VSI). Through the VSI disparate types of sensors and actuators can be addressed in a consistent manner. Changing a data object in the VSI initiates a corresponding change in the physical world. On top of the VSI are Teleoperated, Supervisory, Autonomous and Reflexive control levels. Within each con-trol level, GRPA provides standardized, device independent routines which interact with the the VSI to affect changes in the robot.

© (1989) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.
Citation

Walter A. Aviles ; Robin T. Laird and Margaret E. Myers
"Towards A Modular Robotic Architecture", Proc. SPIE 1007, Mobile Robots III, 271 (March 10, 1989); doi:10.1117/12.949105; http://dx.doi.org/10.1117/12.949105


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