TY - JOUR A1 - Ortiz Zaragoza, Francisco José AU - Martínez Sala, Alejandro Santos AU - Álvarez Torres, María Bárbara AU - Iborra García, Andrés José AU - Fernández Meroño, José María T1 - Modelling a Software Architecture for Robots Control using UML and COMET Architectural Design Method Y1 - 2002 UR - http://hdl.handle.net/10317/587 AB - 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. KW - Tecnología Electrónica KW - Sistema de control KW - Servicio de teleoperadores KW - Robot de control KW - Software de arquitectura de robots KW - Metodología COMET KW - Arquitectura ACROSET LA - eng ER -