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Lecture Notes in Computer Science
In this paper, a control system in the domain of teleoperated service robots is presented. A reference architecture -ACROSET -has been analyzed and designed following a concurrent object modeling and architectural design methodology (COMET) that uses UML as describing language. The architecture of the whole system has been implemented in a ship's hull blasting robot -GOYA -using Ada 95 and GLADE. Our previous experience in developing teleoperated service robots using Ada is also presented.doi:10.1007/3-540-48046-3_9 dblp:conf/adaEurope/OrtizMAIF02 fatcat:m6z4w37k4nf4td6um52642crhe