.@Times- 2  Software!) 2 y - 2  H-=2 ! ardware Mapping in a Robot Design !)8 +!* 2 F  2 U  '@Times-M2 3b, Pavol Jusko, David Obdrzalek, Tomas Petrusek      !   2 3} @Times-h2  > Faculty of Mathematics and Physics, Charles University, Prague   "              2  ^2 97 Malostranske namesti 25, 118 00 Praha 1, Czech Republic"             2  R2 / pavol.jusko@gmail.com, david.obdrzalek@mff.cuni #      #  .2  .cz, petrusek@gmail.com   "  2 : @Times-@Times-@Times-@Times---2 ~  Abstract.  - 2  2    In this paper     - - 2 1 '-2  w Y2 4 e present a way how to change the design of a small               :2 ~ robot for Eurobot contest from        O2 `- a design with a lot of hardcoded, hard to main              2  n- 2 ~M tain and hard to extend functionality to a more universal design with much be                        2  t- C2 ~% ter maintainability and upgradability          (2  by use of software       2  - #2  hardware mapping     2  . 2  In  g2 9~= the process, we show how the change of communication topologye               2 9e 2 9q and  2 9  software     2 d~ d 2 d e2 d  sign rework     2 d^ help 2 d ed2 d  to achieve    2 dm  the goal.v   2 d $-2 ~  Keywords: 2 - -42 F autonomous robot design, lar      .2  yered software design,      2  software   2 ' - 2 ~  hardware    2  map2 T ping  2  @Times- 2 ^ 1 Introduction  2 ^>  '@Times-e2 < Autonomous robot design is a complex process covering many a !      !       2 A s+2 Q pects and containing ,       #2  many decisions. !   42 , This paper describes second   2  -/2 " year experience of MART   %2  (M% 2 . a 2 A t 2 M -2 [ phys a -2 (  Robot Team)  ! 2 ( 2 (  a  2 (6 student   2 ( team n ! 2 ( based at  2 ( -%2 ( Faculty of Mathem  % !%2 ( atics and Physics     2 ( 2 (   (authors   :2 X of this paper are MART members)     % !!2 XJ [1]  2 X . 2 X -2 7 Our team !- 2  ;2   in its current composition took    !   2  part in   =2 g! Eurobot autonomous robot contest   !    - 2  [ 2  2 2 + ] 2 9 first in 2007   2  . -2 5 After th  2  is 2   participation7   -#2  we carefully re   2  -"2  evaluated our d   2  e2   sign in the     ,2  light of our experienc    e2 < es and observations gained during the work on our robot and       )2  during the contest i     2 I t 2 U self.  2  "2 G7 In this paper,     g2 G"= we present the way how we have changed the design and implemee            ! !2 G n-d2 w; tation of our robot to be more robust, scalable and simplerm      !    ! 22 w to maintain, upgrade and !     2  furthe  2 k r 2  developh 2   .  2 % In our paper wR2 '/ e focus on the mapping between hardware and sof !   2  t- p2 C ware and leave aside other tasks like mechanical construction, high         !       2  -#2  level algorithms    !2  , @2  # overall robot intelligence and ot        2  A h2  W ers. o 2   @Times- 2  2  2 . Original' 2  2  D$2  esign  2   '-A2  $ Our robot was designed for Eurobot 2       2   007  2   contest   /2  N as the first robot of a       2   re2   new2   ed2  A team. ! n2 G B It was build from scratch without reusing older pieces of hardware    !            &2 G d or previously wri      2 G  t- 2 w   ten software   O2 w - . The core controlling part used standard PC           2 w   based on a  2 w x mini!  2 w  -2 w   ITX mothe ! 2 w  r- -@Times- - C2 7( 2  '- @ !X 7-  - 2  -- - 2 1 '-2 X The work was partly supported by the project 1ET100300419 of the Information Society Pr                         2  o-  'e2 +< gram of the National Research Program of the Czech Republic.                2   '"System|$ق9-