2. Description of some control architectures

While the architectural organization model most often adopted is hybrid architecture, the implementation approaches are virtually all different. This difference in implementation, from modeling to implementation, is reflected, among other things, in the software entities with which the architecture is described and composed.

The notion of software entity, in the general sense, is central to the development of architectures, including robotic control architectures. However, this notion is expressed in very different ways, depending on the approach considered. For example, it can be defined as a function, an object, a module, an agent or a component. In all cases, the central element of development is the function encapsulating the algorithm (control law, image processing, etc.), but the point of view adopted here is the IT entity from which the corresponding control...