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An exploration of Brooks’ Subsumption Architecture in combination with the occam-pi language for creating robotic control systems. This paper was presented on September 18, 2006 at Communicating Process Architectures 2006, Napier University, Scotland.

Abstract

Brooks’ subsumption architecture is a design paradigm for mobile robot control that emphasises re-use of modules, decentralisation and concurrent, communicating processes. Through the use of occam-pi the subsumption architecture can be put to use on general purpose modern robotics hardware, providing a clean and robust development approach for the creation of robot control systems.

BibTeX information

@InProceedings{SimpsonJacobsenJadud06,
  title = "{M}obile {R}obot {C}ontrol: {T}he {S}ubsumption {A}rchitecture and occam-pi",
 author = "Jonathan Simpson and Christian L. Jacobsen and Matthew C. Jadud",
  editor= "Frederick R. M. Barnes and Jon M. Kerridge and Peter H. Welch",
  pages = "225-236",
  booktitle= "{C}ommunicating {P}rocess {A}rchitectures 2006",
  publisher = "IOS Press",
  isbn= "1-58603-671-8",
  year= "2006",
  month= "sep",
  keywords = "Mobile robots, Robot control, Subsumption architecture, occam-pi",
  abstract= "Brooks' subsumption architecture is a design paradigm for
     mobile robot control that emphasises re-use of modules,
     decentralisation and concurrent, communicating processes.
     Through the use of occam-pi the subsumption architecture can
     be put to use on general purpose modern robotics hardware,
     providing a clean and robust development approach for the
     creation of robot control systems.",
  url = "http://www.transterpreter.org/wiki/Publications",
}

PDF Download

• Paper, PDF Format (281K)
• Presentation, PDF Format (1.4M)

This entry was posted on Sunday, September 24th, 2006 at 12:04 am and is filed under Computing, Research, occam-pi. You can follow any responses to this entry through the RSS 2.0 feed. You can leave a response, or trackback from your own site.

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