ISBN: 978-981-11-3671-9 DOI: 10.18178/wcse.2017.06.209
Towards a Robust Software Architecture for Autonomous Robot Software
Abstract— The decision and execution of autonomous robot behaviors highly depend on constant
perceiving of the situated environment, in order to respond to various changes. Existing control architectures
for robot software generally follow a sequential sense-model-plan-act (SMPA) architecture, in which the
sensing activity only interacts with the modelling activity that triggers the planning and acting activity.
However, in dynamic world, the constant changes of environment not only influence robot’s behavior
decisions but also affects their plan execution. The robot behaviors to fulfill tasks are often required to be
accompanied with a series of sensing activities. To deal with this issue, this paper presents a robust software
architecture for autonomous robot software, in which sensing activity interacts with the modeling, planning
and acting activities. Such approach enables autonomous robot software to constantly sense environment and
obtain expected percepts in different phase of control loop. Therefor it enriches autonomous robot capability
to take behaviors based on the sensing and improves the robustness of autonomous robot software. This
paper details the model of architecture, designs behaviors schedule algorithm and presents a mutual data store
mechanism to support the interactions between the activities in architecture. We also conduct a comparative
experiment on humanoid robot NAO, and the result validates the enhanced robustness of our proposed
architecture over traditional structure.
Index Terms— autonomous robot software, robot software architecture, robustness
Shuo Yang, Xinjun Mao, Sen Yang, Zhe Liu, Guochun Chen, Shuo Wang, Jiangtao Xue, Zixi Xu
College of Computer, National University of Defense Technology, CHINA
ISBN: 978-981-11-3671-9 DOI: 10.18178/wcse.2017.06.17Xsrc="http://www.wcse.org/uploadfile/2019/0823/20190823055609629.png" style="width: 120px; height: 68px;" />[Download]
Cite: Shuo Yang, Xinjun Mao, Sen Yang, Zhe Liu, Guochun Chen, Shuo Wang, Jiangtao Xue, Zixi Xu, "Towards a Robust Software Architecture for Autonomous Robot Software," Proceedings of 2017 the 7th International Workshop on Computer Science and Engineering, pp. 1197-1207, Beijing, 25-27 June, 2017.