Kim, Gunhee Chung, Woojin 2024-01-21T02:06:19Z 2024-01-21T02:06:19Z 2021-09-01 2006-10 0278-0046 https://pubs.kist.re.kr/handle/201004/135071 This paper discusses a control architecture and a system integration strategy for multifunctional indoor service robot public service robot (PSR) systems. The authors have built three versions of the PSR systems for four target service tasks, which are delivery, patrol, guidance, and floor cleaning. They clarify the requirements of the architecture in their applications, and propose the tripodal schematic control architecture as the solution to the architectural problems. The key idea of proposed architecture is to integrate robot systems using following three frameworks, layered functionality diagram, class diagram, and configuration diagram. The proposed architecture was successfully evaluated and implemented to PSR platforms for their target tasks. Experimental results clearly showed that the developed strategy was useful for developing the autonomous service robots. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC Tripodal schematic control architecture for integration of multi-functional indoor service robots Article 10.1109/TIE.2006.881956 1 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.53, no.5, pp.1723 - 1736 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 53 5 1723 1736 scie scopus 000241050400036 2-s2.0-33750102232 Automation & Control Systems Engineering, Electrical & Electronic Instruments & Instrumentation Automation & Control Systems Engineering Instruments & Instrumentation Article control architecture Petri nets robot system integration service robots