10 March 1989 Towards A Modular Robotic Architecture
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
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.
© (1989) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Walter A. Aviles, Walter A. Aviles, Robin T. Laird, Robin T. Laird, Margaret E. Myers, Margaret E. Myers, } "Towards A Modular Robotic Architecture", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949105; https://doi.org/10.1117/12.949105


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