System Architecture MSD16
Paradigm
There are many paradigms available for developing architecture for robotic systems. These paradigms are available in Chapter 8 in the Springer Handbook of Robotics. In this project the paradigm developed at KU Leuven in collaboration with TU Eindhoven and was used. This paradigm is followed at TechUnited.
Layered Approach
This paradigm defines Tasks (blue block) using the objectives set with respect to the context of the project, i.e. what needs to be done. The Skills (yellow block) then define the implementation, i.e. how to these tasks will be completed. The hardware (grey block) or the robots, i.e. the ones who will complete the tasks by implementing the skills are the agents available at the system-architects’ disposal and the choice made to pick certain agents over the other is influenced by system requirements. The system requirements are influenced by a number of factors especially the objectives and the context of the project. Coming back to the agents, they gather information from the environment and this information is first processed (filtered, fused etc.) and then stored in the world model (green block) which allows it to be accessed afterwards. Finally the visualization or the user interface (orange block) is a tool to observe how the system sees the environment.