Speedy is a 1/8 model car based autonomous mobile robot. This robot includes a two-level arquitecture: a mini-ITX board with a C3 x86 compatible processor and 4 ATMega32 based custom boards designed and built in the Lab.
Each of these boards takes care of a low-level behavior or group of behaviors: PID drive motor control, steering servo control and digital compass for autopilot in one of them, an ultrasound tilt-controlled scanner in another one, a set of 3-axis accelerometers for inclination sensing in the third one, and servo control of a pan-tilt camera. Limitations in turning radius suggest porting all hardware to a new robotic base.
We have started new work on Component-based software using the Ice communications framework.