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Tham khảo tài liệu 'advances in robot navigation part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Conceptual Bases of Robot Navigation Modeling Control and Applications 9 For mobile robots the architectures are defined by the control system operating principle. They are constrained at one end by fully reactive systems Kaelbling 1986 and in the other end by fully deliberative systems Fikes Nilsson 1971 . Within the fully reactive and deliberative systems lies the hybrid systems which combines both architectures with greater or lesser portion of one or another in order to generate an architecture that can perform a task. It is important to note that both the purely reactive and deliberative systems are not found in practical applications of real mobile robots since a purely deliberative systems may not respond fast enough to cope with the environment changes and a purely reactive system may not be able to reach a complex goal as will be discussed hereafter. 2.3.1 Deliberative architectures The deliberative architectures use a reasoning structure based on the description of the world. The information flow occurs in a serial format throughout its modules. The handling of a large amount of information together with the information flow format results in a slow architecture that may not respond fast enough for dynamic environments. However as the performance of computer rises this limitation decreases leading to architectures with sophisticated planners responding in real time to environmental changes. The CODGER Communication Database with Geometric Reasoning was developed by Steve Shafer et al. 1986 and implemented by the project NavLab Thorpe et al. 1988 . The Codger is a distributed control architecture involving modules that revolves a database. It distinguishes itself by integrating information about the world obtained from a vision system and from a laser scanning system to detect obstacles and to keep the vehicle on the track. Each module consists on a concurrent program. The Blackboard implements an AI Artificial Intelligence system that consists on the .
