Development environments for autonomous mobile robots: A survey
Autonomous Robots
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This paper concerns the development of a lightweight robotic platform which targets at flexibility, scalability, extensibility and environment for intelligence embedment. The platform employs layered architecture and event driven communication paradigm which allows for efficient integration of additional sensory input and actuator control. New intelligent algorithm can be encapsulated into plug-ins and lodged into the platform to leverage the robot intelligence and learning capability. A multi-purpose XML engine is introduced for the control of system communication, business logic, finite state machine execution and decision making. The proposed robotic platform was deployed on a number of robots in our laboratory such as coffee serving robot and receptionist robot. The results show that XRIA is flexible, manageable and works well for different types of robots with required operating performance.