🚀 go-pugleaf

I have just finished my paper "Subsumption architecture-based realtime 
multitasking kernel for programming autonomous robots," to be presented this
November at the SPIE Conference on Cooperative Intelligent in Space III. If you
are interested in a copy of the paper in postscript format, please send me a
note and I will mail it to you.

From the abstract:

	This paper describes a real-time multitasking kernel called BRET
	(Behavior-based Robot ExecuTive) that incorporates subsumption
	architecture-style communication facilities. The result is a
	portable, flexible system for building control software for
	behavior-based autonomous robots, which operate well in dynamic
	environments, including extraterrestrial areas. Unlike "pure"
	subsumption architecture implementations, this system does not
	exclude the use of traditional programming methodologies or
	impose artificial structures on the robot control system. Thus,
	traditional methods such as real-time data processing, searching
	or map making, as well as teleoperated commands can be
	integrated with the behavior-based modules.

	Two autonomous rovers named Ripley I and Ripley II have been
	built to test the software system. They were designed to use
	modified off-the-shelf hardware components in order to reduce
	construction and debugging time. Their control systems are
	described at  the end of this paper.
--
- Richard F. Man (man@labrea.zko.dec.com)
"This Dust Has No Mirror"