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This paper presents “Huxley,” a production robot control architecture that was developed by Bluefin Robotics for its fleet of autonomous underwater vehicles (AUVs). Huxley was designed with flexibility foremost in mind, allowing it to be easily adapted and reliably deployed on a wide range of platforms. The architecture follows a layered paradigm, providing a clean and logical abstraction for the...
Control architectures, such as the LAAS architecture, CLARATY and HARPIC, have been developped to provide autonomy to robots. To achieve a robot's task, these control architectures plan sequences of sensorimotor behaviors. Currently carried out by roboticians, the design of sensorimotor behaviors is a truly complex task that can require many hours of hard work and intensive computations. In this paper,...
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