| 摘要 |
A heterarchical device control system is provided, comprising a plurality of computer-implemented cells. At least one cell is a control cell having software arranged to communicate instructions to the device being controlled in a language native to the device so as to perform a predetermined task. Also, at least one cell is a sensor cell configured to generate sensor data for input to the control cell to facilitate performance of the predetermined task. The sensor data might be environmentally-related data e.g. position of the device, speed of travel, angle of elevation etc. Messages sent between the cells are formed in accordance with a common format, which might be a high-level programming language, a low level programming language or a protocol. This arrangement provides a fault-tolerant, scalable and autonomous control system. |
