A survey of control architectures for autonomous mobile robots

Abstract

This paper identifies attributes of intelligent robotic applications and surveys the different flavor in robot control architectures. Directions in robot control are discussed and the attributes and properties of different proposals are classified andcompared. In the conclusion we present our point of view about the current state of designing robot control architectures.

Autonomous Learning Architecture for Environmental Mapping

“…However, there is no widely accepted theory of architecture design that can be used to prove that one design is better than another (Russel and Norvig, 1995). Most of them have overlapping principles, which makes any tentative classification appear rather fuzzy (Medeiros, 1998;Pettersson, 1997).…”

“…However, its flexibility may make control difficult. Fortunately, this architecture is well-studied and there exist variations of the traditional version (Medeiros, 1998;Pettersson, 1997).…”

An Innovative Control Architecture for Autonomous Mobile Robots by Displacement of Computing Operations to Operator Stations

“…There is a wide variety of control architectures for mobile robots [1]. Most of them, however, tend to place a lot of computing power on the robot itself, particularly in the case of autonomous robots.…”

Probabilistic Mapping by Fusion of Range-Finders Sensors and Odometry

“…That is, according to Medeiros (Medeiros, 1998) a robot to be considered autonomous must present a series of abilities as reaction to environment changes, intelligent behavior, integration of data provided by sensors (sensor fusion), ability for solving multiple tasks, robustness, operation without failings, programmability, modularity, flexibility, expandability, adaptability and global reasoning. Yet in the context of autonomy, the navigation problem appears.…”