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An industrial application of behavior-oriented robotics

Authors:
Andreas Birk at Constructor University
Andreas Birk
  • Constructor University
Holger Kenn at Microsoft
Holger Kenn
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Abstract and Figures

The so-called RoboGuard is a mobile security device which is tightly integrated into the existing surveillance framework developed and marketed by Quadrox, a Belgian SME. RoboGuards are semi-autonomous mobile robots providing video streams via wireless Intranets to existing watchguard systems, supplemented by various basic and optional behaviors. RoboGuards fill several market-niches. Especially, they are a serious alternative to the standard approach of using closed circuit television for surveillance. Low production cost, user friendliness, and support for easy add-on functionalities were important design targets, which were achieved by following the AI paradigm of behavior-oriented robotics.
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Proceedings of the 2001 IEEE 
International Conference on Robotics & Automation
Seoul, Korea • May 21-26, 2001
0-7803-6475-9/01/$10.00 © 2001 IEEE
749
750
751
path-planning
motion-control
motor-control
strategic
[communication, plausibility checks]
[obstacle-avoidance, short paths]
[vectors, curves, dead-reckoning]
[PID-speed controller]
[drivers, tasks, control-support]
operating system
752
parse packet
compute
control state
send 0x40
compute
correction values
set new
pulsewidth
read quadrature
decoders
update position
and orientation
MC68332 onboard TPU
M M
Channels: ABCDEF
QDEC 1
QDEC 1
QDEC 2
QDEC 2
PWM
PWM
100 Hz IRQ
Motion- and Motor-Control LayersHigher Layers
Cockpit
PC
Application
Transport
Internet
Network
Data Link
Physical
Internet
transmission
Ethernet
Wireless
Ethernet
Wireless
Bridge
Onboard
PC
RoboCube
Serial Port
Data
Serial Port
Inband Handshake
753
754
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