An architectural framework for modeling teleoperated service robots

Author:

Álvarez Bárbara,Sánchez-Palma Pedro,Pastor Juan A.,Ortiz Francisco

Abstract

Teleoperated robots are used to perform tasks that human operators cannot carry out because of the nature of the tasks themselves or the hostile nature of the working environment. Though many control architectures have been defined for developing these kinds of systems reusing common components, none has attained all its objectives because of the high variability of system behaviors. This paper presents a new architectural approach that takes into account the latest advances in robotic architectures while adopting a component-oriented approach. This approach provides a common framework for developing robotized systems with very different behaviors and for integrating intelligent components. The architecture is currently being used, tested and improved in the development of a family of teleoperated robots which perform cleaning of ship-hull surfaces.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Cited by 11 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Software variability in service robotics;Empirical Software Engineering;2022-12-24

2. Architectural modelling for robotics: RoboArch and the CorteX example;Frontiers in Robotics and AI;2022-10-28

3. The Design of Intelligent Spray Painting System for Ship Panel Based on UAV;Journal of Physics: Conference Series;2022-02-01

4. Halbach Square Array Structure for Optimizing Magnetic Adsorption;Journal of Nanoelectronics and Optoelectronics;2021-11-01

5. A cost-effective robotic solution for the cleaning of ships' hulls;Robotica;2009-05-22

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