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Control AD Libitum: An approach to real-time construction of control systems for unstructured robotic teams
Institute for Aerospace Studies, University of Toronto.
Institute for Aerospace Studies, University of Toronto.ORCID iD: 0000-0003-4977-6339
2009 (English)In: Proceedings of the IASTED International Conference on Robotics and Applications, RA, Cambridge, USA, 2-4 November 2009, 2009, p. 383-390Conference paper, Published paper (Refereed)
Abstract [en]

Developers of mobile robot teams face many challenges that will only continue to grow with the complexity of their applications. As the applications evolve it will become impractical to design custom hardware for each problem and begin each control system from scratch. A new approach to control system design is necessary to overcome these challenges. Control ad libitum is an approach that forms a division between the functionality of the control system and specific hardware components, allowing the system to adapt to changing hardware and simplifying the process of adding functionality to the control system. The philosophy of control ad libitum is presented here along with the "Host, Avatar, Agent" (HAA) control architecture designed following this approach. The HAA architecture provides a flexible structure using a distributed processing network that allows modular and incremental construction of control systems. Current progress on an implementation of the HAA architecture for exploration, mapping, and object collection applications shows promising merit from both design and functionality perspectives.

Place, publisher, year, edition, pages
2009. p. 383-390
Keyword [en]
Distributed control, Robot design and architecture, Robot teams
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-30252Scopus ID: 77954178137Local ID: 40471a9e-943c-4c65-aeb1-0c31cdd0d300ISBN: 9780889868137 (print)OAI: oai:DiVA.org:ltu-30252DiVA, id: diva2:1003479
Conference
IASTED International Conference on Robotics and Applications : 02/11/2009 - 04/11/2009
Note
Upprättat; 2009; 20141216 (ninhul)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-15Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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