Abstract
This paper discusses a control architecture and a system integration strategy for multifunctional indoor service robot public service robot (PSR) systems. The authors have built three versions of the PSR systems for four target service tasks, which are delivery, patrol, guidance, and floor cleaning. They clarify the requirements of the architecture in their applications, and propose the tripodal schematic control architecture as the solution to the architectural problems. The key idea of proposed architecture is to integrate robot systems using following three frameworks, layered functionality diagram, class diagram, and configuration diagram. The proposed architecture was successfully evaluated and implemented to PSR platforms for their target tasks. Experimental results clearly showed that the developed strategy was useful for developing the autonomous service robots.
| Original language | English |
|---|---|
| Pages (from-to) | 1723-1736 |
| Number of pages | 14 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 53 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2006 Oct 1 |
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Keywords
- Control architecture
- Petri nets
- Robot system integration
- Service robots
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Instrumentation
Cite this
Tripodal schematic control architecture for integration of multi-functional indoor service robots. / Kim, Gunhee; Chung, Woo Jin.
In: IEEE Transactions on Industrial Electronics, Vol. 53, No. 5, 01.10.2006, p. 1723-1736.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Tripodal schematic control architecture for integration of multi-functional indoor service robots
AU - Kim, Gunhee
AU - Chung, Woo Jin
PY - 2006/10/1
Y1 - 2006/10/1
N2 - This paper discusses a control architecture and a system integration strategy for multifunctional indoor service robot public service robot (PSR) systems. The authors have built three versions of the PSR systems for four target service tasks, which are delivery, patrol, guidance, and floor cleaning. They clarify the requirements of the architecture in their applications, and propose the tripodal schematic control architecture as the solution to the architectural problems. The key idea of proposed architecture is to integrate robot systems using following three frameworks, layered functionality diagram, class diagram, and configuration diagram. The proposed architecture was successfully evaluated and implemented to PSR platforms for their target tasks. Experimental results clearly showed that the developed strategy was useful for developing the autonomous service robots.
AB - This paper discusses a control architecture and a system integration strategy for multifunctional indoor service robot public service robot (PSR) systems. The authors have built three versions of the PSR systems for four target service tasks, which are delivery, patrol, guidance, and floor cleaning. They clarify the requirements of the architecture in their applications, and propose the tripodal schematic control architecture as the solution to the architectural problems. The key idea of proposed architecture is to integrate robot systems using following three frameworks, layered functionality diagram, class diagram, and configuration diagram. The proposed architecture was successfully evaluated and implemented to PSR platforms for their target tasks. Experimental results clearly showed that the developed strategy was useful for developing the autonomous service robots.
KW - Control architecture
KW - Petri nets
KW - Robot system integration
KW - Service robots
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UR - http://www.scopus.com/inward/citedby.url?scp=33750102232&partnerID=8YFLogxK
U2 - 10.1109/TIE.2006.881956
DO - 10.1109/TIE.2006.881956
M3 - Article
AN - SCOPUS:33750102232
VL - 53
SP - 1723
EP - 1736
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 5
ER -