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Proceedings Paper

Subsumption architecture-based real-time multitasking kernel for programming autonomous robots
Author(s): Richard F. Man
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Paper Abstract

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.

Paper Details

Date Published: 1 November 1992
PDF: 12 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131706
Show Author Affiliations
Richard F. Man, Digital Equipment Corp. (United States)

Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

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