Abstract
This paper introduces how mobile robots can perform navigation tasks by implementing a system based on the control kernel middleware (CKM), and how can take benefit of this. Smart resources are also included into the topology of the system, improving the distribution of the computational load required by the system tasks. The CKM and the smart resources are both highly reconfigurable, even on execution time, and they also implement fault detection mechanisms and Quality of Service (QoS) policies. By combining of these capabilities, the system can be dynamically adapted to the requirements of its tasks. Furthermore, this solution is designed to be implemented by almost every type of robot. The distribution of load make this system suitable even for those configurations which are provided with a low computational power. All these benefits are improved by exploiting the smart resources capabilities, and the dynamic performance of the system.
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Sánchez, E.M., Alcobendas, M.M., Yagüe, J.L.P., Poza-Luján, JL., Noguera, J.F.B. (2014). Integration of Mobile Robot Navigation on a Control Kernel Middleware Based System. In: Omatu, S., Bersini, H., Corchado, J., Rodríguez, S., Pawlewski, P., Bucciarelli, E. (eds) Distributed Computing and Artificial Intelligence, 11th International Conference. Advances in Intelligent Systems and Computing, vol 290. Springer, Cham. https://doi.org/10.1007/978-3-319-07593-8_55
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DOI: https://doi.org/10.1007/978-3-319-07593-8_55
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-07592-1
Online ISBN: 978-3-319-07593-8
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