Journal of Pattern Recognition Research

Autonomous mobile robots require efficient control of their movement. There are several very good approaches for controlling autonomous robots under bound conditions; however, self-adaptation to dynamic environments is very complicated. This paper focuses on part of an autonomous mobile robot prototype named FIC (Fluent Interactive Codelets framework) that has both a main controller and a secondary controller. We conducted an in-depth analysis of the secondary controller implementation. The secondary controller implementation complements the main close-loop controller providing it with further information processing about the current robot status, and suggesting alternate actions. This advisory subsystem implements a new lightweight version of conscious modeling based on the design of Dr. Stan Franklin at the University of Memphis and uses short program pieces named Codelets. This paper focuses on the engineering process performed during FIC prototyping, from requirement collection through design until implementation of the conscious sub-system, as well as how real-world concepts should be properly modeled by Codelet based systems such as FIC.