An architecture for dependable autonomous robots
Félix Ingrand, Raja Chatila, Rachid Alami · 2002
Autonomous robots are complex machines embedding: software modules implementing basic functions such as servo loops to follow a path, or to compute stereo correlation of a pair of images; software to take into account the interactions between the robot components; programs which deal with the supervision and the planning of the mission. These components are integrated within an architecture which defines an organization and a methodology for robot operation.