Robot Task Controller

The Robot Task Controller (RTC - not to be confused with Real Time Clock) is the decision-making brain of the robot that performs computationally expensive near real-time tasks like sensor fusion, localization, continuous task optimization, and analysis of visual data. The RTC communicates with the state agent to gather the sensor data and to control the actuators.

I am currently using single-board mini computer systems based on ARM Cortex-A processors, like the Raspberry Pi, as task controller.