Intelligent robot software architecture

초록

This paper describes the software architecture of intelligent robots, developed by Center for Intelligent Robotics (CIR). The architecture employs a hybrid type consisting of deliberate, sequencing and reactive behaviors. The primary contributions of the architecture are the followings: 1) reusability and extensibility for the rapid development of robot systems with different requirements and 2) adaptability to distributed computing environments, different OS's and various programming languages. The architecture has successfully been applied to the development of CIR's many robot platforms such as T-Rot, Kibo and Easy Interaction Room. T-Rot and Kibo have been exhibited at the 2005 Asia-Pacific Economic Cooperation (APEC) in Korea.