Abstract
The peculiarities of the software architecture of navigation systems of robotic control modules are considered. Particular attention is focused on the reproduced classifications of the characteristics of architectural solutions. The three-functional architecture of the Shakey robot, the architecture of R. Brooks (Subsumption), and Boltzmann's intellectual model were studied in detail. Three-level architectural system LAAS, multi-level architecture CLARAty, intelligent real-time control system CIRCA are also considered.
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