Asynchronous Distributed Control System For A Mobile Robot

Rodney A. Brooks; Jonathan H. Connell

doi:10.1117/12.937785

25 February 1987 Asynchronous Distributed Control System For A Mobile Robot

Rodney A. Brooks, Jonathan H. Connell

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937785
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

In this paper we describe the subsumption architecture, a design methodology for multiprocessor control systems. The architecture is based on a new decomposition of problems into task-achieving behaviors. This decomposition allows us to incrementally construct more competent robots by adding new behaviors. We demonstrate this by showing how two different control systems can be built on top of the same set of core behaviors. We have implemented both systems and have run them on a real mobile robot. The details and performance of each will be discussed.

Citation Download Citation

Rodney A. Brooks and Jonathan H. Connell "Asynchronous Distributed Control System For A Mobile Robot", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937785

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available