| Popis: |
This paper presents an overview of the Organic Robot Control Architecture (ORCA) and its previous applications. The architecture supports the decentralized operation and organization of autonomous subsystems and the avoidance of states that are considered as unhealthy. Additionally the paper discusses the application of ORCA in the context of cyberphysical systems (CPS), as CPS share common characteristics with organically controlled system, such as self-organization, self-configuration, self-optimization and other ones. This is underlined by an exemplary CPS layout that follows the ORCA design principles. |
