Beruflich Dokumente
Kultur Dokumente
Demetrius Taylor
Lamar University
Abstract
3.1 Design
Figure 2 shows the high-level design of the robot
system. The INTERRAP controller runs on the
Khepera robot. Because the Khepera does not have
enough resources to run both INTERRAP and SHOP2,
SHOP2 runs on a Linux workstation. The robot
communicates with the workstation via TCP/IP on a
wireless ad-hoc network. When the robot needs a plan
it sends a message with its domain information to the
workstation and asks the workstation to find a plan.
When the workstation receives the request it converts
the message into the SHOP2 language and passes the
information to SHOP2. When a plan is found the
workstation then parses the plan into steps and sends it
back to the Khepera robot for execution.
3.2 Example
References
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