Development and Composition of Robot Architecture in Dynamic Environment

Abstract

Robots occupy an increasingly important position in life. The design and execution of a plan will be a challenge when performing tasks in a complex and dynamic environment. To understand the layers of architecture and design a framework with a higher degree of autonomy, it is necessary to understand the development and Key technology of the architecture. Based on the author's understanding of the reading materials, this paper summarizes the history of the robot architecture development, analyzes the problems and solutions encountered in the past, lays the foundation for the understanding of the architecture. After that, the focus is on the FSM (finite-state machine) and BT (behavior tree) methods what are commonly used in the architecture. The aerostack is used as an example to help the readers understand the modules and layers of the architecture better.