Given a robot that can move and sense its environment, the remaining task is to plan intelligent motions.
Chapter 6 looks at some of the fundamental computational tasks that must be addressed in order for a mobile robot to move intelligently through its environment: how the environment should be represented, how the robot should be represented, and how to plan, given these representations.
The software environment within which the control programs of modern mobile robots execute can be likened to mobile operating systems. The various tasks that provide overall robotic control must compete for scarce computational and sensor resources and must meet both soft and hard real-time constraints. In order to meet these requirements, various architectures and strategies have been proposed to provide a framework within which the controlling processes exist. Chapter 7 examines how the various computational components that make up a mobile robot can be put together: the software environment or operating system within which the computational tasks compete for the scarce resources both on and off the robot.
Chapter 8 considers pose maintenance, a necessary task in many robotic systems. This allows a robot to use and construct maps, topics covered in Chapter 9.
Chapter 10 looks at the problems involved in having two or more robots operating in the same environment.
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