Distributed intelligent navigation architecture for robots

Robots are currently helping humans by performing complex, repetitive, unpleasant and/or dangerous tasks in all kinds of environments. In order to progressively develop more complex tasks, it is usually necessary that these robots are able to navigate in dynamic and potentially unstructured environments. Although many navigation schemes for autonomous mobile agents have been proposed to solve this complex problem, lack of standardization makes it enormously difficult to adapt existing schemes to systems different from those for which they were conceived. This thesis [3] proposes a new control architecture to develop a basic infrastructure for navigation in unstructured dynamic environments. It supports easy adaptation to new robots and simple expansion by adding new behaviours in a modular way. This architecture is named DLA (Distributed and Layered Architecture) , and it allows coor-