Design, architecture and control of a mobile site-modeling robot
Andrey Gueorguiev, Peter K. Allen, Eric Gold, Paul S. Blaer · 2002
A distributed, modular, heterogeneous architecture is presented that illustrates an approach to solving and integrating common tasks in mobile robotics, such as path planning, localization, sensor fusion, environmental modeling, and motion control. Experimental results are shown for an autonomous navigation task to confirm the applicability of our approach.