A Multi-processing Software Infrastructure for Robotic Systems
نویسندگان
چکیده
Robotic systems and their software design are based on the same principles found in other computer applications. However, while many computer systems to date are deeply rooted in concepts such as multi-processing, multi-threads, modularity, etc., robotic systems are still limited by mono-processing, centralized designs. This paper addresses these limitations by proposing a new philosophy for robotic system software design software infrastructure that allows for the design of an e cient, modular, fault-tolerant, and distributed software architecture. Two examples of this infrastructure applied to mobile robot navigation are also discussed.
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