Abstract
This paper presents an architecture for a prototype of an autonomous robot and its associated programming environment. The goal of the robot is to provide a general platform for research in distributed architectures for real-time control and mobile computing. The robot architecture is built around the CAN (Controller Area Network). The associated programming environment is based on RT-Linux extended with CAN Application Layer protocol (CAL) in order to provide high level distributed programming facilities. This paper briefly describes the robot hardware architecture and application, and concentrates on the implementation of the distributed programming environment on RT-Linux and the application software on top of CA1.
Published Version
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