ModelBasedModel-Based ArchitecturesSummaryAs the name would imply, this architecture depends on the existence of a formal model of the robotic platform in use. This model is then leveraged to simplify programming of the system while also allowing it to be much more robust. Every architecture must have some model of the underlying system, whether just implied by the control code or abstracted into its own layer. The model-based approach requires an accurate description of hardware states and possible transitions (including failures), and then asks the programmer to create programs which are sequences of desired states. The system itself is responsible for transitioning from state to state and inferring the system's true state. Many of the techniques described by research in this area prove too resource intensive, yet functioning systems have been demonstrated, including a system tested on the Deep Space 1 probe: Remote Agent. My slides on Model Based architecture: Attach:Introduction.pdf. Some work has been done attempting to bridge the gap between Model-Based Engineering (which may not be quite the same as the systems described here) and component based robotic middle-wares: Robotics#Bruyninckx13BRICS |