Mobile Robot Control: The Subsumption Architecture and occam-pi
Authors: Simpson, Jonathan, Jacobsen, Christian L., Jadud, Matthew C.
Abstract:Brooks' subsumption architecture is a design paradigm for mobile robot control that emphasises re-use of modules, decentralisation and concurrent, communicating processes. Through the use of occam-pi the subsumption architecture can be put to use on general purpose modern robotics hardware, providing a clean and robust development approach for the creation of robot control systems.
Communicating Process Architectures 2006, Peter H. Welch, Jon Kerridge, Frederick R. M. Barnes, 2006, pp 225 - 236 published by IOS Press, AmsterdamFiles: PDF
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