%0 Journal Article %A Ortiz Zaragoza, Francisco José %A Martínez Sala, Alejandro Santos %A Álvarez Torres, María Bárbara %A Iborra García, Andrés José %A Fernández Meroño, José María %T Modelling a Software Architecture for Robots Control using UML and COMET Architectural Design Method %D 2002 %U http://hdl.handle.net/10317/587 %X In this paper, a control system in the domain of teleoperated service robots is presented. A reference architecture - ACROSET - has been analyzed and designed following a concurrent object modeling and architectural design methodology (COMET) that uses UML as describing language. The architecture of the whole system has been implemented in a ship’s hull blasting robot - GOYA –using Ada 95 and GLADE. Our previous experience in developing teleoperated service robots using Ada is also presented. %K Tecnología Electrónica %K Sistema de control %K Servicio de teleoperadores %K Robot de control %K Software de arquitectura de robots %K Metodología COMET %K Arquitectura ACROSET %~ GOEDOC, SUB GOETTINGEN