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Memorias de investigación
Artículos en revistas:
A behaviour-based control architecture for heterogeneous modular, multi-configurable, chained micro-robots
Año:2012
Áreas de investigación
  • Automática
Datos
Descripción
This article presents a new control architecture designed for heterogenous modular multi-configurable chained micro-robots. This architecture tries to fill the gap that exists in heterogeneous modular robots, where no much research has been done compared to homogeneous modular robots. The architecture proposes a three layer structure with a behavior-based low level embedded layer, a half deliberative half behavior-based high layer for the central control, and a heterogenous middle layer acting as a bridge between both of them. This middle layer is a very important part because it makes possible that the central control treats all modules in the same way, facilitating its control. A communication protocol and a Module Description Language (MDL) has been also developed for the control architecture to make communication and information flow possible from the heterogeneous modules and the central control. Due to the heterogeneous behavior of the architecture, the system can automatically reconfigure its actions to adapt to unpredicted events (like actuator failure). Several behaviors (at low and high levels) are also presented.
Internacional
Si
JCR del ISI
Si
Título de la revista
Robotics And Autonomous Systems
ISSN
0921-8890
Factor de impacto JCR
1,313
Información de impacto
Datos JCR del año 2010
Volumen
60
DOI
10.1016/j.robot.2012.09.019
Número de revista
12
Desde la página
1607
Hasta la página
1624
Mes
DICIEMBRE
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Alberto Brunete Gonzalez (UPM)
  • Autor: Miguel Hernando Gutierrez (UPM)
  • Autor: José Emilio Torres Matesanz (UPM)
  • Autor: Ernesto Gambao Galan (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Electrónica, Automática e Informática Industrial
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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