Specification and validation of a control architecture for autonomous mobile robots

摘要

We describe the specification of a software control architecture for autonomous mobile robots. The architecture, designed to provide the robot (in a task-dependent context) with the capacity to react to events but also to intelligently anticipate the future and plan its actions, is based on the decomposition of the robot system into a functional and a decisional level. The article is mainly focused on some aspects of the organisation and of the operation of the system such as execution control, inter-levels communication, reactivity. An important aspect that is developed is the possibility to prove some temporal and logical properties of parts of the system.