RAPP will present a “reconﬁgurable control architecture for exploratory robots” at RoMoCo 2015
The “Reconﬁgurable Control Architecture for Exploratory Robots” paper written under the framework of the RAPP project has been accepted and will be presented at the 10th International Workshop on Robot Motion and Control (RoMoCo 2015). The Workshop will take place in Poland at the Conference Center of Poznań University of Technology, 6-8 July 2015.
The scope of the RoMoCo 2015 workshop includes: control, modelling and parameter identification of robots and manipulators; robot control techniques: non-adaptive and adaptive, robust, hybrid, learning; path and trajectory planning: nonredundant, redundant and hyperredundant manipulators, mobile robots, holonomic and nonholonomic systems; collision avoidance; applications: manufacturing, space, underwater, air, civil engineering and service, medicine; economic and social aspects of robotics; neural networks in robot motion and control; educational aspects of robotics.
Robots have to perform diverse and complex tasks. To face the limitations of the computational capabilities of robot on-board control computer, it is required to split the control systems between the robot embedded and the cloud computational resources. This paper presents a reconﬁgurable control architecture for a robot designed to meet this requirement. The embedded computer hosts a core agent, which provides the task-independent robot capabilities. The task dependent part called the dynamic agent is loaded from the cloud when required. The two mentioned agents execute the task, additionally utilising the capabilities of the cloud. Once the task is ﬁnished the dynamic agent is destroyed and the core agent awaits new user demands, upon which it reacts by downloading a new dynamic agent. Thus a reconﬁgurable system results, limited only by the resources provided by the cloud. The system is presented on an example of a humanoid robot exploring a home environment in search for hazards resulting from negligence of people suffering from mild dementia.
This paper was written by Cezary Zielinski, Wojciech Szynkiewicz, Maksym Figat, Marcin Szlenk, Tomasz Kornuta, Włodzimierz Kasprzak, Maciej Stefanczyk, Teresa Zielinska and Jan Figat from the Warsaw University of Technology (WUT), Poland.
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