The document discusses desired features of mobile robotics architectures, including supporting deliberate and reactive behaviors, operating with uncertain environments, accounting for potential dangers, and providing flexibility for experimentation and reconfiguration. It proposes two solutions: implicit invocation using exception handling, wiretapping and monitors; and the blackboard approach which uses modules like the captain, map navigator, lookout and pilot to resolve uncertainties on a shared blackboard. The document also includes a case study on cruise control maintaining constant vehicle speed.

1. Desired features of Mobile Robotics
Architecture
Dr Reeja S R
Professor
CSE Dept.
SJEC,Vamanjoor, Mangalore

2. Desired features of Mobile
Robotics Architecture
1. Supports deliberate and reactive behavior. (ex: collect a rock
sample) (ex: avoid an obstacle)
2. Allows uncertainty and unpredictability of environment. (such as
contradictory sensor readings).
3. System must consider possible dangerous operations by Robot and
in its environment (Ex: reduced power supply, dangerous vapors,
unexpectedly opening doors of hazardous materials, etc)
4. The system must give the designer flexibility of experimentation
and reconfiguration (mission’s change/requirement changes)

3. Solution #3: Implicit Invocation
Implicit invocation using exception handler,
wiretapping and monitors

4. REQ #1:
Supports Deliberate and
reactive behavior
Deliberate :Task trees
Reactive: exceptions, wiretapping and monitors
REQ #2:
Should operate with
incomplete and unreliable
info
Create tentative task trees which are then modified
by exception handlers when exceptional event
occurs.
REQ #3:
Account for danger Exception, wiretapping and monitors address needs
for performance, safety and fault tolerance
REQ #4:
Design for flexibility
(experimentation and
reconfiguration)
For dynamic Reconfiguration, It is often sufficient to
register new handlers, exceptions, wiretaps, or
monitors with central server; no existing
components are affected.

5. Solution #4: Blackboard
•The “captain”, the overall supervisor.
•The “map navigator”, the high level
path planner.
•The “lookout”, a module that
monitors the environment for
landmarks.
•The “pilot”, the low level path
planner and motor controller.
•The perception subsystem, the
modules that accept the raw input
from multiple sensors and integrate it
into a coherent interpretation.

6. REQ #1:
Deliberate and reactive behavior Achieved using blackboard
REQ #2:
Should operate with incomplete
and unreliable info
The blackboard acts as a means of resolving
uncertainties.
REQ #3:
Account for danger Exception handling, wiretapping, monitors
can be used for certain signs of problematic
situations
REQ #4:
Design for flexibility
(experimentation and
reconfiguration)
Supports concurrency
Separates senders from receivers

7. Case Study #4

8. Whenever the system is active, determine the desired
speed, and control the engine throttle setting to maintain
that speed.

11. The cruise control system is supposed to maintain
constant speed in an automobile despite variations in
terrain, vehicle load, air resistance, fuel quality, etc.