A client/server control architecture for robot navigation

Abstract We address the problem of task decomposition in a mobile robot navigation system. A typical robot navigation algorithm consists of a number of concurrent modules. In order to accomplish the common goal of the navigation task, they share resources on the robot. In such a system resource access control and information sharing must be properly managed. We approach these two issues by using a client/server distributed programming paradigm. Two types of server are defined: data server and hardware server . An indoor navigation system developed using the client/server model described above is presented.

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