HAREMS: hierarchical architecture for robotics experiments with multiple sensors

Abstract

Presents a hierarchical computer architecture specifically designed for controlling a multisensory robot system. In a flexible and modular fashion. The approach used for the implementation of the system is botton-up, in the sense that high level processes are developed from elementary sensory-motor activities, carried out at lower levels of a hierarchical control system. Sensor acquisition, planning and control are functionally distributed among different processors, each one representing a node of a tree-structured network. In order to obtain an extremely open and flexible programming environment, most of the nodes, including the supervisor, have been realized by using IBM compatible personal computers, under MS-DOS operating system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>