This report summarizes the work performed for the design and development of the Proteus research robot. The Proteus design is motivated by the need for a modular, flexible, and usable autonomous robotic platform. To accomplish these goals, a modular hardware architecture coupled with low-power, high-computation processing is presented. The robot is subdivided into three layers: mobility, computation, and application. The interface between layers is characterized by well defined APIs and may be individually replaced to achieve different functionality. An efficient low-level event scheduler is described along with higher-level software algorithms for motion control and navigation. Experiments of Proteus robots are provided including field tests and collaboration with outside research institutions. / text
| Identifer | oai:union.ndltd.org:UTEXAS/oai:repositories.lib.utexas.edu:2152/ETD-UT-2010-05-1471 |
| Date | 30 November 2010 |
| Creators | Paine, Nicholas Arden |
| Source Sets | University of Texas |
| Language | English |
| Detected Language | English |
| Type | thesis |
| Format | application/pdf |
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