A SOFTWARE ARCHITECTURE FOR EFFICIENT TELEOPERATION OF A SEMI-AUTONOMOUS WALKING ROBOT

摘要

A software architecture for the semi-autonomous walking robot Messor is described. This software is based on the multi-agent design paradigm with blackboard-type communication between modules. The paper shows how this flexible architecture supports development of an efficient teleoperation system for the walking robot. Use of the teleoperation mode in reconnaissance and search missions is demonstrated with real outdoor scenarios.