%0 Journal Article %A Ortiz Zaragoza, Francisco José %A Alonso Cáceres, Diego %A Álvarez Torres, María Bárbara %A Pastor Franco, Juan Ángel %T A reference control architecture for service robots implemented on a climbing vehicle %D 2005 %@ 0302-9743 %U http://hdl.handle.net/10317/1215 %X Teleoperated robots are used to perform hazardous tasks that human operators cannot carry out. The purpose of this paper is to present a new architecture (ACROSET) for the development of these systems that takes into account the current advances in robotic architectures while adopting the component-oriented approach. The architecture is currently being used, tested and improved in the development of an heterogeneous family of robots in the context of the EFTCoR project. It is also presented the Ada’95 implementation of ACROSET for a climbing robot. %K Lenguajes y Sistemas Informáticos %K Tecnología Electrónica %K Robot teleoperado %K Arquitectura de Control para Robots de Servicio Teleoperados (ACROSET) %K Componentes de la Coordinación, Control y la abstracción de subsistemas (CCAS) %K Lázaro vehículo %K Entorno amigable y tecnología rentable para la eliminación de revestimientos (EFTCoR) %K Teleoperated robot %K Control Architecture for Teleoperated Service Robots (ACROSET) %K Components of the Coordination, Control and Abstraction Subsystem (CCAS) %K Lázaro Vehicle %K Environmental Friendly and Cost-Effective Technology for Coating Removal (EFTCoR) %~ GOEDOC, SUB GOETTINGEN