DARC: Next generation decentralized control framework for robot applications

Morten Kjærgaard, Nils Axel Andersen, Ole Ravn

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry. It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness.
Original languageEnglish
Title of host publicationProceedings of 2013 10th IEEE International Conference on Control and Automation
PublisherIEEE
Publication date2013
Pages1598-1602
ISBN (Print)9781467347075
DOIs
Publication statusPublished - 2013
Event2013 10th IEEE International Conference on Control and Automation (ICCA) - Hangzhou, China
Duration: 12 Jun 201314 Jun 2013

Conference

Conference2013 10th IEEE International Conference on Control and Automation (ICCA)
CountryChina
CityHangzhou
Period12/06/201314/06/2013

Keywords

  • Decentralised control
  • Low-power electronics
  • Peer-to-peer computing
  • Robots
  • Robust control

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