TY - JOUR 
A1 - Ortiz Zaragoza, Francisco José
AU - Pastor Franco, Juan Ángel
AU - Álvarez Torres, María Bárbara
AU - Sánchez Palma, Pedro
T1 - A layered architectural component model service teleoperated robots
Y1 - 2004
UR - http://hdl.handle.net/10317/460
AB - The teleoperated robots are used for performing works that human
operators can not carry out due to the very nature of their tasks or the hostile
nature of the working environment. Though many control architectures have
been defined for developing such kind of systems and reuse common components, none of them have reached all its objectives due to the great variability among systems behaviors. The purpose of this paper is to present a new architectural approach for the development of these systems that takes into
account the current advances in robotic architectures as well as the componentoriented approach. The described architectural approach provides a common
framework for developing robotized systems with very different behaviors and
for integrating intelligent components. The architecture is currently being used,
tested and improved in the development of a family of robots, teleoperated
cranes and vehicles, which perform an environmentally friendly cleaning of
hull-ship surfaces (the EFTCoR project). This paper summarises the methodological approach taken, the features of the systems that constitute its design drivers and finally the main characteristics of the proposed architecture.
KW - Tecnología Electrónica
KW - Aproximación de componentes de orientación
KW - Software architecture
KW - Robot teleoperation
KW - Oriented component approach
KW - Arquitectura de software
KW - Robot de teleoperación
LA - eng
ER -