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

@article{Limsoonthrakul2008AMS,
  title={A modular system architecture for autonomous robots based on blackboard and publish-subscribe mechanisms},
  author={Somphop Limsoonthrakul and Matthew N. Dailey and Methee Srisupundit and Suwan Tongphu and Manukid Parnichkun},
  journal={2008 IEEE International Conference on Robotics and Biomimetics},
  year={2008},
  pages={633-638}
}
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

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