Towards A Modular Robotic Architecture

Walter A. Aviles; Robin T. Laird; Margaret E. Myers

doi:10.1117/12.949105

10 March 1989 Towards A Modular Robotic Architecture

Walter A. Aviles, Robin T. Laird, Margaret E. Myers

Author Affiliations +

Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949105
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

Despite the seemingly dramatic differences in the con-figuration of individual robots, all mobile platforms are required to perform the same basic tasks and gather certain basic types of information about their environment. In recognition of this fact, work has been initiated on a high-level robotic control and integration architecture known as the Generic Robotic Processing Architecture (GRPA). GRPA is designed to provide a flexible, standard interface between users and a wide variety of robotic processing sys-tems. Under GRPA, the user is able to "compile" a hardware description of a particular robot into data struc-tures used by its Virtual Systems Interface (VSI). Through the VSI disparate types of sensors and actuators can be addressed in a consistent manner. Changing a data object in the VSI initiates a corresponding change in the physical world. On top of the VSI are Teleoperated, Supervisory, Autonomous and Reflexive control levels. Within each con-trol level, GRPA provides standardized, device independent routines which interact with the the VSI to affect changes in the robot.

Citation Download Citation

Walter A. Aviles, Robin T. Laird, and Margaret E. Myers "Towards A Modular Robotic Architecture", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); https://doi.org/10.1117/12.949105

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE