Flexible real-time architecture for hybrid mobile robotic applications

The latest hybrid architectures proposed in the field of complex mobile robotic architectures have shown the necessity of using real-time algorithms for guaranteeing the combined execution of timing constrained activities with deliberate behaviours. Various fundamental aspects should be considered in the design. One of the main characteristics discussed in this paper is flexibility. A system has to be adapted to the environment and take appropriate actions. This focuses on the ability of the system to select the appropriate activity to be executed (depending on the available time) and to change its behaviour (depending on the environmental information). Researchers in the field of mobile robotic architecture are looking for internal monitoring systems that dynamically measure vehicle quality of service (QoS) and adjusting it for the best vehicle fit. The architecture we present dynamically guarantees the required vehicle QoS - by adapting either the vehicle speed or the mode change of operation. Copyright((C))2000 IFAC.