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Thinging the Robotic Architectural Structure

Sabah Al-Fedaghi and Manar AlSaraf
Computer Engineering Department, Kuwait University, Kuwait

Abstract—Robot architecture refers to the architectural structure of a system and its subsystems and how those subsystems interact. From the modeling point of view, the architecture is the conceptual model that defines the structure, behavior, and other aspects of a system. This paper proposes the adaptation of a recent modeling technique, thinging machine (TM), to develop a high-level neutral (no hardware or software) description of robot architecture. Using the TM, several robot projects from the literature are remodeled and an actual robot case study is redesigned. The results point to the viability of applying the TM in robotics.

 
Index Terms—robotic architectural model, conceptual model, navigating robot, SLAM, thinging machine

Cite: Sabah Al-Fedaghi and Manar AlSaraf, "Thinging the Robotic Architectural Structure," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 8, pp. 1110-1121, August 2020. DOI: 10.18178/ijmerr.9.8.1110-1121