A modular system architecture for autonomous robots based on blackboard and publish-subscribe mechanisms

@article{Limsoonthrakul2009AMS,
  title={A modular system architecture for autonomous robots based on blackboard and publish-subscribe mechanisms},
  author={Somphop Limsoonthrakul and M. Dailey and Methee Srisupundit and S. Tongphu and M. Parnichkun},
  journal={2008 IEEE International Conference on Robotics and Biomimetics},
  year={2009},
  pages={633-638}
}
  • Somphop Limsoonthrakul, M. Dailey, +2 authors M. Parnichkun
  • Published 2009
  • Computer Science, Engineering
  • 2008 IEEE International Conference on Robotics and Biomimetics
  • We present a system software architecture for mobile robots such as autonomous vehicles. The system achieves the goals of flexibility, maintainability, testability, and modifiability through a decoupled software architecture based on an asynchronous publish-subscribe mechanism and a blackboard object handling synchronized access to shared data. We report on two implementations using the proposed generic architecture and the POSIX real time API. The first implementation is for an autonomous… CONTINUE READING
    A Framework for Test & Evaluation of Autonomous Systems Along the Virtuality-Reality Spectrum
    • 1
    An Agent-Based Approach to Service-Oriented Architectures
    • 4
    • PDF
    Intelligent vehicle localization using GPS, compass, and machine vision
    • 10
    • PDF

    References

    Publications referenced by this paper.
    SHOWING 1-10 OF 19 REFERENCES
    A robust layered control system for a mobile robot
    • 8,787
    • PDF
    An Architecture for Autonomy
    • 620
    • PDF
    An architecture for sensor fusion in a mobile robot
    • 208
    • PDF
    Sensor-Based Control Architecture for a Car-Like Vehicle
    • 60
    Structured control for autonomous robots
    • 384
    Sonar-Based Real-World Mapping and Navigation
    • Viii Supervisor
    • 2001
    • 753
    • PDF
    Sonar-based real-world mapping and navigation
    • A. Elfes
    • Engineering, Computer Science
    • 1987
    • 711