Control system design schemata and their application in off-road robotics [Elektronische Ressource] / Bernd-Helge Schäfer

Robot Control Design Schemata { Applications in O -road RoboticsB.-H. SchaferBernd-Helge Schafer was born in Mainz at the river Rhinein 1979. Mr. Schafer studied informatics at the Universityof Kaiserslautern. Since 2003 he was student in the PhDProgramme of the Department of Computer Sciences. In2005 Mr. Schafer graduated in the context of the coop-eration between the Robotics Research Lab (University ofKaiserslautern) and the Unmanned Vehicle Centre at theRoyalMilitaryAcademyBelgium. Until 2010, Mr. Schaferworked on design methodology as a research assistant atthe Robotics Research Lab.In this doctoral thesis, a novel design approach is proposedwhich combines action orientation and perception orien-tation into one coherent methodology. More precisely, de-sign schemata for representation, translation, and fusion ofenvironmental information are developed which establishthorough abstraction mechanisms between components.Furthermore, a set of design guidelines for the applicationof the schemata is proposed. The explicit introduction ofBernd-Helge Schaferabstractions particularly supports extensibility and scala-bility of robot control systems by design. The proposedschemata furthermore allow for the ne-grained reuse ofRobot Control Design Schemata andsoftware components.