Consequences of module combination in a modular robotics system

Details Consequences of module combination in a modular robotics system Consequences of module combination in a modular robotics system

Aug 1999

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1999spie.3839..270f&link_type=abstract

Proc. SPIE Vol. 3839, p. 270-278, Sensor Fusion and Decentralized Control in Robotic Systems II, Gerard T. McKee; Paul S. Schenk

Computer Science

Robotics

Scientific paper

Modular robotics considers robots to be composed of distinct functional modules, which may be combined to perform tasks. Module combination allows functionality to be tailored to a task, but has a number of requirements. The notion of a 'module' must be clearly defined, and functionality specified in an unambiguous manner. The nature of the combination must be defined according to specific relationships between modules, and the consequences arising form combination - for modules and for the robot as a whole - need to be considered. The MARS model has been developed to allow reasoning about module combination, in terms of the ways in which modules may be combined, and the consequences that may arise form that combination. This paper defines a set of consequences which may arise during module combination.

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