Abstract of Thesis presented at COPPE/UFRJ as a partial fulfillment of the requirements for the degree of Master of Science (M.Sc.)

Hybrid Architecture and Mission Control of Autonomous Robots

Renan Salles de Freitas

March/2016

Advisor:

Ramon Romankevicius Costa

Department:

Eletrical Engineering

      Since 1950, the software and hardware technology for robotic systems is developed, and three paradigms were idealized to try to answer the question: what is the correct way to build an intelligent autonomous system? The comprehension of the various robotic architectures and robotic cases, and their advantages and disadvantages allow analysis, and improvement proposals. The study of robotic architectures and how they are used allow the understanding of how different components and tools associated with a paradigm can build an artificial intelligence robot. The objective of this work is the development of an autonomous robotic system in an hybrid three-layers architecture, i.e., the implementation of the Executive and Planner layers. The case study for this thesis DORIS, a mobile robot for remote supervision, diagnosis, and data acquisition on offshore facilities. Tests and results showed the performance of the proposed architecture and a comparative analysis highlighted the modularity, flexibility and robustness of the solution.