Title: On issues and considerations in modern mobile robotics

Authors: David Baird, Aly I. El-Osery, Kevin Wedeward

Addresses: Department of Electrical Engineering, New Mexico Tech, Socorro, New Mexico, USA. ' Department of Electrical Engineering, New Mexico Tech, Socorro, New Mexico, USA. ' Department of Electrical Engineering, New Mexico Tech, Socorro, New Mexico, USA

Abstract: Designing an adaptable and robust robotic platform is very critical in providing a tool to test and use highly needed autonomous behaviours. As the required capabilities increase, the complexity of the designed platform also increases and results in more challenges. In this paper, we survey some key issues and possible solutions in the design of mobile robotic platforms. We also present our design that is based on the tracked robot named MATILDA made by Mesa Robotics.

Keywords: robotic platform design; reusable software; design patterns; layered design; real time control; mobile robots; robot design; tracked robots; robot control.

DOI: 10.1504/IJAAC.2008.022898

International Journal of Automation and Control, 2008 Vol.2 No.4, pp.470 - 486

Published online: 02 Feb 2009 *

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