Difference between revisions of "MAPIR's Module Architecture"
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| + | <td align="right"> <small>Next: [[Architecture:Motivation | Motivation]]</small></td></tr> | ||
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<b><big>A proposed architecture framework for developing BABEL modules</big></b> | <b><big>A proposed architecture framework for developing BABEL modules</big></b> | ||
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| − | + | <i>This report addresses the problem of designing low-level modules for robotics control architectures under the BABEL development environment. These modules are typically developed by different researchers or students and their integration into any high-level architecture represents a big challenge due to the heterogeneity and the variety of involved tasks. This specification aims to normalize the structure of the low-level part of robotics control architectures, related with sensory and motor issues. Their interfaces are normalized in an effort to give a long-term stabilized repertory of modules, as well as leading to architectures largely independent of the particular robotic platform they are executed on. Architecture designers are free to specify the high-level modules (world modeling, task planning or motion planning) as desired and exploiting the robot-independent services offered by this low-level architecture.</i> | |
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Latest revision as of 15:37, 25 May 2009
| Next: Motivation |
A proposed architecture framework for developing BABEL modules
Abstract
This report addresses the problem of designing low-level modules for robotics control architectures under the BABEL development environment. These modules are typically developed by different researchers or students and their integration into any high-level architecture represents a big challenge due to the heterogeneity and the variety of involved tasks. This specification aims to normalize the structure of the low-level part of robotics control architectures, related with sensory and motor issues. Their interfaces are normalized in an effort to give a long-term stabilized repertory of modules, as well as leading to architectures largely independent of the particular robotic platform they are executed on. Architecture designers are free to specify the high-level modules (world modeling, task planning or motion planning) as desired and exploiting the robot-independent services offered by this low-level architecture.
