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1 November 1992 Subsumption architecture-based real-time multitasking kernel for programming autonomous robots
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Proceedings Volume 1829, Cooperative Intelligent Robotics in Space III; (1992)
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
This paper describes a real-time multi-tasking kernel called behavior-based robot executive (BRET) that incorporates subsumption architecture-style communication facilities. The result is a portable, flexible system for building control software for behavior-based autonomous robots, which operate well in dynamic environments, including extraterrestrial areas. Unlike `pure' subsumption architecture implementations, this system does not exclude the use of traditional programming methodologies or impose artificial structures on the robot control system. Thus, traditional methods such as real-time data processing, searching or map making, as well as teleoperated commands can be integrated with the behavior-based modules. Two autonomous rovers named Ripley I and Ripley II have been built to test the software system. They were designed to use modified off-the-shelf hardware components in order to reduce construction and debugging time. Their control systems are described at the end of this paper.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Richard F. Man "Subsumption architecture-based real-time multitasking kernel for programming autonomous robots", Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992);


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