Lifecycle, System Modes, and Parameters Clause Samples

Lifecycle, System Modes, and Parameters. ‌ Modern robotic software architectures follow a layered approach. The layer with the core algorithms for SLAM, vision-based object recognition, motion planning, etc. is often referred to as skill layer. To perform a complex task, these skills are orchestrated by one or more upper layers named deliberation layer(s). We observed three different but closely interwoven aspects to be handled on the deliberation layer: