Tram: a blackboard architecture for autonomous robots

Abstract

In this paper, we present a blackboard model especially dedicated to autonomous robots. The control architecture exploits the ideas of the BB1 model (HAY 85). Our blackboard is non monotonous; this enhances its capabilities. The evolution of the environment is taken into account by our model. We explain the architecture of TRAM : control and structures. We illustrate it by an application in the field of tasks planning for a mobile inspection robot.