ROAR: Resource Oriented Agent architecture for the autonomy of Robots

摘要：

This paper presents a framework to organize the various processes that endow a robot with autonomy. The main objectives are to allow the achievement of a variety of missions without an explicit writing of control schemes by the developer, and the possibility to augment the robot capacities without any major rewriting. The proposed architecture relies on a partition of the decisional layer in separate resources, each one managed by a specific agent. The mechanisms that guarantee the good use of each resource and manage the network of agent into a coherent system are depicted, and illustrated in the case of an autonomous navigation mission.

作者: Arnaud Degroote Simon Lacroix

作者单位: CNRS LAAS 7 avenue du colonel Roche,F-31077 Toulouse,France Université de Toulouse UPS,INSA,INP,ISAE LAAS F-31077 Toulouse,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 6090-6095

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）