An Architecture for
Dependable Autonomous Robots
Félix Ingrand, Raja Chatila, Rachid Alami
7 Avenue du Colonel Roche
31077 Toulouse Cedex 4, France
Autonomous robots are complex machines
· software modules implementing basic
functions such as servo loops to follow a
path, or to compute stereo correlation of a
pair of images.
· software to take into account the interactions
between the robot components.
· programs which deal with the supervision
and the planning of the mission.
These components are integrated within an