Real-time Cooperative Behavior for Tactical Mobile Robot Teams: Subsystems Specification/A002
Abstract
This document constitutes the subsystem specifications and is submitted to TACOM as deliverable A002. It contains a description of the overall system architecture to be used within Georgia Tech's research for the DARPA Tactical Mobile Robotics Program. It further provides functional specifications for each of the major system components. More specific details regarding interfaces will be provided in future interface control documents to be submitted according to the prescribed deliverables schedule of the contract. The overall system architecture being developed for this effort contains 3 major subsystems: Executive, Premission, and Runtime. The executive subsystem is the major focus for operator interaction. It provides an interface to both the runtime simulators and actual robot controllers, as well as the premission specification facilities and the physical operator groundstation itself. The premission subsystem's role is to provide an easy-to-use interface for designing robot missions and a means for evaluating overall usability. The runtime control system, which is located on each active robot, provides the execution framework for enacting reactive behaviors, acquiring sensor data and reporting back to the executive subsystem to provide situational awareness to the team commander. Additionally, a separate support system is provided for interprocess communications. Section two of this document provides the functional specifications for each of these subsystems and their underlying components.
Document Details
- Document Type
- Technical Report
- Publication Date
- Oct 01, 1998
- Accession Number
- ADA434878
Entities
Organizations
- Georgia Tech