J. Borges Sousa, F. Lobo Pereira, E. Pereira da Silva, A. Martins, A. Matos, J. Almeida, N. Cruz, R. Tunes, S. Cunha
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On the design and implementation of a mobile robotic system
Describes the effort being carried out in the analysis, design and implementation of the control architecture for a mobile platform for autonomous transportation, surveillance and inspection in structured and semi-structured industrial environments. The control architecture is based in a hierarchical structure organized linguistically permitting the real-time parallel execution of tasks. This architecture is composed of three levels, organization, coordination and functional, structured according to the increasing precision with decreasing intelligence principle.
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