![PDF] A modular system architecture for autonomous robots based on blackboard and publish-subscribe mechanisms | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/5492446b04b2965905f3fd7ffab7bf9384aad298/2-Figure1-1.png "PDF] A modular system architecture for autonomous robots based on blackboard and publish-subscribe mechanisms | Semantic Scholar")
PDF] A modular system architecture for autonomous robots based on blackboard and publish-subscribe mechanisms | Semantic Scholar
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Robot Architectures
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