Abstract
A major issue in robotic research is the development of advanced autonomous robots which are able to solve a difficult task in a complex environment. Besides the need for powerful sensing and planning capabilities, an autonomous system must incorporate a highly sophisticated control architecture. This paper describes an advanced robot control system which is being developed at the Institute for Real-Time Computer Control Systems and Robotics of the University of Karlsrube. As a test environment for the implementation of this architecture, the autonomous moible two-arm robot system KAMRO is used.
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