TY - JOUR
T1 - Tripodal schematic control architecture for integration of multi-functional indoor service robots
AU - Kim, Gunhee
AU - Chung, Woojin
N1 - Funding Information:
Manuscript received July 7, 2005; revised October 28, 2005. Abstract published on the Internet July 14, 2006. This work was supported by the Ministry of Science and Technology of Korea, performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs.
PY - 2006/10
Y1 - 2006/10
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
UR - http://www.scopus.com/inward/record.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 -