Robotic systems, and in particular mobile robotic systems, are the embodiment of a set of complex computational processes, mechanical systems, sensors, user interface, and communications infrastructure. The problems inherent in integrating these components into a working robot can be very challenging. Overall system control requires an approach that can properly handle the complexity of the system goals while dealing with poorly defined tasks and the existence of unplanned and unexpected events. This task is complicated by the non-standard nature of much robotic equipment. Often the hardware seems to have been built following a philosophy of “ease of design” rather that with an eye toward assisting with later system integration.
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