Over the years, the field of mobile robots has yielded many architectural proposals. In the solutions we present here, we will consider four proposals ranging from the layered paradigm [Elfes87] to the blackboard structure [Shafer86].
The richness of the field permits interesting comparisons of the emphases different researchers have chosen for their robotic projects and between the trade-offs the choices entail. The next section surveys the factors to consider.
Updated Halloween 95 by
Mary Shaw
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