NDLI: An agent-based mobile robot system using configurable SOC technique

Content Provider	IEEE Xplore Digital Library
Author	Yan Meng
Copyright Year	2006
Description	Author affiliation: Stevens Inst. of Technol., Hoboken, NJ (Yan Meng)
Abstract	To make a mobile robot with real-time vision system adapt to the highly dynamic environments and emergencies under the real-time constraints, a significant account of processing power is needed. Instead of pushing the limit of software development and computational resources, and to reduce the system computation time and improve system fault-tolerance, this paper presents an embedded platform which can dynamically reconfigure a mobile robot system on the fly by integrating field programmable gate arrays (FPGA) and embedded processors in a system-on-chip (SOC) environment. The BDI agent model is adopted as the unified agent structure, which significantly simplify the HW/SW partitioning and communication. A self-reconfigurable platform is also proposed to improve the hardware flexibility. This proposed embedded framework has been applied to a real-world mobile robot, and the experimental results demonstrate its feasibility and efficiency
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	3368
Ending Page	3373
File Size	429467
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642216
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Real time systems Embedded computing Field programmable gate arrays Machine vision Programming Fault tolerant systems System-on-a-chip Mobile communication Hardware
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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