A modular architecture for a multi-purpose mobile robot

In this paper we describe a design approach for mobile robots which overcomes problems of previous approaches. The problems we address are robustness, reuse and exchangeability of components, flexibility and adaptability. The approach is based on a modularization of hardware and software. Furthermore, we propose a combination of reactive behaviors with classical planning and reasoning techniques as a robust and flexible control solution. We present the modularization approach, introduce the control solution and report practical results of the design approach which is used for developing a robot platform for the RoboCup Middle Size League.