Autonomous Interoffice Delivery Robot (AIDeR) Software Development of the Control Task

Autonomous robots are able to perform desired tasks within a predefined environment for a substantial amount of time without human support. These types of robots may be used in various domains such as indoor or outdoor cleaning, intrusion detection, space research, law enforcement, homeland security, healthcare, etc. They have become the topic of many research projects. This thesis presents details about the control task, which is a software component of an application that uses an autonomous robot for indoor delivery. The task executes several main pieces, namely, identifying the defined landmarks, detecting obstacles, controlling movements, and communicating with peripheral devices and other tasks in the system