ロボットシステムは複雑で開発は難しい．システムは複数のエフェクタを伴った センサからなる．多くの自由度を持ち，実時間システムと [Jones93]． They integrate multiple sensors with effectors, have many degrees of freedom and must reconcile hard real-time systems with systems which cannot meet real-time deadlines [Jones93]. システム開発者はロボットの機構を System developers have typically relied upon robotic architectures to guide the construction of robotic devices and for providing computational services (e.g., communications, processing, etc.) to subsystems and components. These architectures, however, have tended thus far to be task and domain specific and have lacked suitability to a broad range of applications. For example, an architecture well suited for direct teleoperation tends not to be amenable for supervisory control or for autonomous use.
One recent trend in robotic architectures has been a focus on behavior-based or reactive systems. Behavior based refers to the fact that these systems exhibit various behaviors, some of which are emergent [Man92]. These systems are characterized by tight coupling between sensors and actuators, minimal computation, and a task-achieving "behavior" problem decomposition.
The other leading architectural trend is typified by a mixture of asynchronous and synchronous control and data flow. Asychronous processes are characterized as loosely coupled and event-driven without strict execution deadlines. Synchronous processes, in contrast, are tightly coupled, utilize a common clock and demand hard real-time execution.
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