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Paper Details

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.

Proceedings:

Communicating Process Architectures 2006, Peter H. Welch, Jon Kerridge, Frederick R. M. Barnes, 2006, pp 225 - 236 published by IOS Press, Amsterdam

Files: PDF

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