Robotic Architectures

  • Mbali Mtshali Council for Scientific and Industrial Research, Pretoria
  • Andries Engelbrecht University of Pretoria, Pretoria


In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.

Defence Science Journal, 2010, 60(1), pp.15-22, DOI:

Author Biographies

Mbali Mtshali, Council for Scientific and Industrial Research, Pretoria
Council for Scientific and Industrial Research, Pretoria, South Africa
Andries Engelbrecht, University of Pretoria, Pretoria
University of Pretoria, Pretoria, South Africa
How to Cite
Mtshali, M., & Engelbrecht, A. (2010). Robotic Architectures. Defence Science Journal, 60(1), 15-22.