1. Flakey Flakey's BackFlakey's Front

2. Flakey's Control Architecture The following is cited from the SRI web pages: Overview SRI's mobile robot, Flakey, is a custom-built platform approximately 3 feet high and 2 feet in diameter operating within SRI's own office environment. Two independently driven wheels provide a maximum velocity of about 2 feet per second. Sensors include a ring of 12 sonar range finders, wheel encoders, and a video camera used in combination with a laser to provide dense depth information over a small area in front of the vehicle. Flakey's on-board computers include a workstation and a number of other processors dedicated to sensor interpretation, motor control, and radio communications.

3. Flakey - Integrated Architecture

4. Flakey - Control Architecture

5. Flakey's Control Architecture System Overview There is a real-time controller for ERRATIC [another robot at SRI], called Saphira, based on software developed at SRI International on the FLAKEY project. The software runs a reactive planning system with a fuzzy controller, behavior sequencer, and deliberative planner. There are integrated routines for sonar sensor interpretation, map building, and navigation. The following is cited from the SRI web pages:

6. SAPHIRA

7. Flakey - Procedural Reasoning System