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G. Koppensteiner, C. Schwingenschlögl, M. Merdan, A. Zoitl:
"Implementation of an Event-based Low-Level Control for Mobile Robots";
Vortrag: 19th International Conference on Mechatronics and Machine Vision in Practice (M2VIP12), Auckland, New Zealand; 28.11.2012 - 30.11.2012; in: "Proceedings on the 19th International Conference on Mechatronics and Machine Vision in Practice (M2VIP12)", (2012), 6 S.

Mobile robots get increasingly important in the
implementation of adaptive production systems. In order to gain
the most benefit from mobile robots they need at the one hand
efficiently cooperate with the overall production system and on
the other hand provide their functionality (e.g., pick and place
of parts) fast and with a high precision. Semantic enhanced
multi-agent systems have proven to serve well for the first task,
especially in heterogeneous environments. However, they lack
when applied to directly control automation equipment. In order
to overcome this limitation this work presents an underlying lowlevel
control architecture that takes over the task of handling
the mobile robots equipment (e.g., arm). This approach relives
at first the agent system and at second improves the overall
system operation. By a flexible generic design we achieve that
our implementation can handle different arm configurations and
abstract it in form of a common interface for the upper level
agent.