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Architecture

Architecture

These represent the different system philosophies for creating robotic systems. Their implementations are found in many different systems.

Comparison

The two rough tables here are an attempt to break down the different implementations by two related (and conflated) metrics: abstractions provided and levels which the architecture can be broken into. This biases the table towards Three Level styled systems, but turns out to still be useful. It is a good place to start to get a flavor of the systems out there.

Historical

A look at the predecessors of "modern" robot architectures. With this arbitrary demarcation, this section covers (in a very incomplete fashion) the initial development of the Three Level architecture and Subsumption.

Distributed

The targets of these systems are often sensor networks or groups of simple robots. Extreme hardware and energy constraints mean that the relevance to my research is tenuous, but still an interesting architecture to look into.

Graph

Many of the most recent systems have adopted a graph approach to robotic systems, at least for the high level code. This abstraction has proved powerful and has undoubtedly aided research through facilitating code sharing and reuse.

Three Level

The three levels defined within this architecture proved both reasonable and blurry enough to produce a wide range of research and implementations. Many systems today still define interfaces along these boundaries.

Model Based

Certainly and exciting and interesting approach: reasoning over detailed models of the system to plan actions and diagnose problems. The architecture treats the problem as a Partially observable Markov decision process, which unfortunately precludes any robots which interact with their environment even in a modest capacity (the target of this approach was originally satellites and space probes).

NSB

This section covers NSB, which seems to be a predecessor of the Subsumption architecture. Has proven fairly irrelevant to my research. (TODO: Improve this summary)

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Page last modified on February 09, 2014, at 09:00 PM