Control Architectures

Abstract

The generation of designated robot behavior is one of the most difficult problems when designing the control system for robotic applications with many sensors and actuators. Due to the diversity of tasks an autonomous vehicle has to fulfill, the control has to be embedded into a convenient framework. The process of building up a control system should be supported by an adequate methodology to help overcoming difficulties common to complex robotic systems, e. g. ensuring secure operation, modularity, or handling a system of growing complexity. Therefore, different types of control architectures have appeared with contrary approaches for tackling the emerging problems.