Versatile robotic control module

• US 9,043,016 B2
• Filed: 10/20/2006
• Issued: 05/26/2015
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: Deere & Company, iRobot Corporation
• Inventors: Filippov, Mikhail O., Fitch, Osa, O'Connor, John, Larsen, Kevin, Allard, James, Norris, William Robert, Norby, Andrew Julian, Turner, Christopher David Glenn, Keller, Scott P., Zendzian, David S., El Fata, Nadim, Meuchel, Arlen Eugene, Schmaltz, Mark David, De Roo, Chris A.
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): KIM, KYUNG J
• Application Number:
  US11/584,084
• Publication Number:
  US 20070219666A1
• Time in Patent Office: 3,140 Days
• Field of Search: 700/245, 701/2, 701/23, 701/24, 701/25, 701/36, 701/41, 701/301, 235/462.03, 273/236, 446/175, 446/454, 446/465, 440/84
• US Class Current: 700/245
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

Certain embodiments of the present invention provide robotic control modules for use in a robotic control system of a vehicle, including structures, systems and methods, that can provide (i) a robotic control module that has multiple functional circuits, such as a processor and accompanying circuits, an actuator controller, an actuator amplifier, a packet network switch, and a power supply integrated into a mountable and/or stackable package/housing; (ii) a robotic control module with the noted complement of circuits that is configured to reduce heat, reduce space, shield sensitive components from electro-magnetic noise; (iii) a robotic control system utilizing robotic control modules that include the sufficiently interchangeable functionality allowing for interchangeability of modules; and (iv) a robotic control system that distributes the functionality and processing among a plurality of robotic control modules in a vehicle.

Claims

1. A robotic control module comprising:

an enclosure having at least one surface, the enclosure being mountable on or in the vehicle;

a processing module disposed within the enclosure, the processing module having a processor and memory, wherein the processing module is configured for monitoring sensors on or in the vehicle;

for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and

for executing and arbitrating among mobile robotic control behaviors that are configured to control operation of the vehicle as a robotic vehicle based on the role of the robotic control module, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;

a reprogrammable actuator controller disposed within the enclosure and configured for being in communication with the processing module for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving;

an actuator connector on the at least one surface of the enclosure, the actuator connector being in communication with the reprogrammable actuator controller and configured for transmitting actuator control signals that are configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system;

a packet network switch disposed within the enclosure; and

a network connector on the at least one surface of the enclosure, the network connector being configured for connecting to a packet network and communicating with the packet network switch, wherein the processing module is configured for transmitting instructions to the packet network.

2. The robotic control module of claim 1, wherein the packet network is configured for transmitting and receiving signals between the robotic control module and a second robotic control module and between the robotic control module and a peripheral.

3. The robotic control module of claim 1, further comprising:

a power supply disposed within the enclosure, wherein the power supply is configured for receiving unregulated power from a mobile robotic platform in the vehicle through a power input to the enclosure and converting the unregulated power into interior regulated power for (i) the processor module, (ii) the packet network switch and (iii) the reprogrammable actuator controller, and into exterior regulated power; and

a power supply connector on the at least one surface of the enclosure configured for connecting to the exterior regulated power.

4. The robotic control module of claim 1, further comprising an actuator amplifier disposed within the enclosure, the actuator amplifier being configured for amplifying the actuator control signal from the reprogrammable actuator controller.

5. The robotic control module of claim 1, wherein the processor module further comprises at least one protocol transceiver that is configured for executing transceiver monitoring code.

6. The robotic control module of claim 1, wherein the processing module is configured to execute only the transmission actuator control of the mobile robotic control behaviors.

7. The robotic control module of claim 1, wherein the processing module is configured to execute only the throttle actuator control of the mobile robotic control behaviors.

8. The robotic control module of claim 1, wherein the processing module is configured to execute only the braking actuator control of the mobile robotic control behaviors.

9. The robotic control module of claim 1, wherein the processing module is configured to execute only the steering actuator control of the mobile robotic control behaviors.

10. The robotic control module of claim 1, wherein the processing module is configured to execute only the sensor driver of the mobile robotic control behaviors.

11. The robotic control module of claim 1, wherein the mobile robotic control behaviors further comprise obstacle map and detection, teleoperation mode, follow mode, waypoint navigation mode, drive arbiter, path recording, path playback, and obstacle avoidance.

12. The robotic control module of claim 1, wherein the enclosure is a single housing that is a flat rectangular prism having six face panels comprising a front face and a rear face.

13. The robotic control module of claim 1, wherein the mobile robotic control behaviors further comprise a nodding motion controller, a three-dimensional map generator, and drive camera controller.

14. The robotic control module of claim 1, wherein the actuator control signals are configured to robotically control actuator operation in a vehicle sensor system.

15. The robotic control module of claim 1, wherein:

the steering actuator control is executable for generating the actuator control signals for robotically controlling steering positions for the vehicle based on monitored data by causing a steering actuator of the vehicle steering system to turn a steering shaft;

the braking actuator control is executable for generating the actuator control signals for robotically controlling a braking actuator of the vehicle braking system by causing application of vehicle brakes;

the throttle actuator control is executable for generating the actuator control signals for robotically controlling delivery of fuel to a vehicle engine by controlling actuation of a fuel solenoid of the vehicle throttle system; and

the transmission actuator control is executable for generating the actuator control signals for robotically controlling a gearshift motor of the vehicle transmission system.

16. The robotic control module of claim 1, wherein the steering actuator control is executable for generating the actuator control signals for robotically controlling steering positions for the vehicle based on monitored data by causing a steering actuator of the vehicle steering system to turn a steering shaft.

17. The robotic control module of claim 1, wherein the braking actuator control is executable for generating the actuator control signals for robotically controlling a braking actuator of the vehicle braking system by causing application of vehicle brakes.

18. The robotic control module of claim 1, wherein the throttle actuator control is executable for generating the actuator control signals for robotically controlling delivery of fuel to a vehicle engine by controlling actuation of a fuel solenoid of the vehicle throttle system.

19. The robotic control module of claim 1, wherein the transmission actuator control is executable for generating the actuator control signals for robotically controlling a gearshift motor of the vehicle transmission system.

47. The robotic control module of claim 12, wherein the enclosure comprises:

a first circuit board arranged within the single housing and extending from the front face to the rear face, the first circuit board comprising the processor arranged toward the front face of the single housing; and

a second circuit board arranged with the single housing parallel to the first circuit board and extending from the front face to the rear face, the second circuit board comprising a motor amplifier inductor and a power supply inductor arranged toward the rear face of the housing.

48. The robotic control module of claim 47, wherein the enclosure further comprises:

a third circuit board arranged within the single housing parallel to the first circuit board and the second circuit board and extending from the front face to the rear face, the third circuit board being between the first circuit board and the second circuit board.

20. A robotic control modular enclosure for use in a robotic vehicle, comprising:

a mountable enclosure having at least one surface, the mountable enclosure being mountable on or in the robotic vehicle;

a processing module disposed within the mountable enclosure, the processing module being configured for monitoring sensors on or in the robotic vehicle;

for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and

for executing and arbitrating among mobile robotic control behaviors that are configured to control operation of the robotic vehicle based on the role of the robotic control module, the processing module comprising a processor and memory, the memory comprising transceiver monitoring code, the processing module comprising at least one protocol transceiver configured for executing the transceiver monitoring code, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver, the mobile robotic control behaviors being executable by the processing module for causing actuator control signals to be transmitted from the mountable enclosure, the actuator control signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system;

a reprogrammable actuator controller configured for communicating with the processing module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing the actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving;

a packet network switch disposed within the mountable enclosure;

a protocol transceiver connector on the at least one surface of the mountable enclosure, the protocol transceiver connector being configured for communicating with a plurality of protocol transceivers sensors;

a network connector on the at least one surface of the mountable enclosure, the network connector being configured for connecting to a packet network and communicating with the packet network switch, wherein the processing module is configured for transmitting instructions to the packet network through the network connector; and

a power supply disposed within the mountable enclosure, the power supply being configured for receiving power from the mobile robotic platform through a power input to the mountable enclosure and converting the power into interior power.

21. The robotic control modular enclosure of claim 20, further comprising a power supply connector on the at least one surface of the mountable enclosure, the power supply connector being configured for connecting to an exterior regulated power;

and

wherein the power supply is configured for receiving unregulated power from a mobile robotic platform in the robotic vehicle through a power input to the mountable enclosure and converting the unregulated power into interior regulated power for the processor module and the packet network switch, and into exterior regulated power.

22. The robotic control modular enclosure of claim 20, further comprising an actuator connector on the at least one surface of the mountable enclosure, the actuator connector being in communication with the reprogrammable actuator controller and being configured for transmitting the actuator control signals.

23. The robotic control modular enclosure of claim 20, further comprising an actuator amplifier within the mountable enclosure configured for amplifying the actuator control signals from the reprogrammable actuator controller.

24. A robotic control modular enclosure for use in a robotic vehicle, comprising:

a mountable enclosure having at least one surface, the mountable enclosure being mountable on or in the robotic vehicle;

a processing module disposed within the mountable enclosure, the processing module being configured for monitoring sensors on or in the robotic vehicle;

for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and

for executing and arbitrating among mobile robotic control behaviors that are configured to control operation of the robotic vehicle based on the role of the robotic control module, and having a processor and memory, the memory comprising transceiver monitoring code, the processing module comprising at least one protocol transceiver configured for executing the transceiver monitoring code, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;

a network connector on the at least one surface of the mountable enclosure, the network connector being configured for connecting to a network that is configured for transmitting instructions to the processing module;

a reprogrammable actuator controller configured for communicating with the processing module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving, the actuator control signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system;

an actuator amplifier disposed within the mountable enclosure, the actuator amplifier being configured for amplifying the actuator control signal from the reprogrammable actuator controller; and

a power supply disposed within the mountable enclosure, the power supply being configured for receiving unregulated power from the mobile robotic platform through a power input to the mountable enclosure and converting the unregulated power into interior regulated power for the processing module and into exterior regulated power.

25. The robotic control modular enclosure of claim 24, further comprising a power supply connector on the at least one surface of the mountable enclosure, the power supply connector being configured for connecting to an exterior regulated power.

26. The robotic control modular enclosure of claim 24, further comprising a packet network switch disposed within the mountable enclosure, the packet network switch being configured for communicating with the network connector.

27. The robotic control modular enclosure of claim 24, further comprising an actuator connector on the at least one surface of the mountable enclosure, the actuator connector being configured for communicating with an actuator drive signal modulated by the reprogrammable actuator controller and the actuator amplifier.

28. A robotic control modular enclosure for use in a robotic vehicle, comprising:

a mountable enclosure having at least one surface, the mountable enclosure being mountable in or on the robotic vehicle;

a processing module within the mountable enclosure having a processor and memory, the memory comprising mobile robotic control behaviors, wherein the processing module is configured for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and

for executing and arbitrating among the mobile robotic control behaviors that are configured to control operation of the robotic vehicle based on the role of the robotic control module, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;

a reprogrammable actuator controller configured for communicating with the processing module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than signals for actuator driving;

an actuator connector on the at least one surface of the mountable enclosure, the actuator connector being in communication with the reprogrammable actuator controller and configured for transmitting actuator control signals that are configured for robotically controlling actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system; and

a network connector on the at least one surface of the mountable enclosure, the network connector being configured for connecting to a network, wherein the processing module is configured for transmitting instructions to the network.

29. The robotic control modular enclosure of claim 28, wherein the mobile robotic control behaviors further comprise a teleoperation mode, an obstacle avoidance mode, a waypoint navigation mode, and a following mode.

30. The robotic control modular enclosure of claim 28, wherein the memory comprises a vehicle control unit interface for communicating with a vehicle control unit in the robotic vehicle.

31. The robotic control modular enclosure of claim 28, further comprising a power supply disposed within the mountable enclosure, the power supply being configured for receiving unregulated power from a mobile robotic platform in the robotic vehicle through a power input to the mountable enclosure and converting the unregulated power into interior regulated power for the processing module, and into exterior regulated power.

32. A robotic control modular enclosure for use in a robotic vehicle, comprising:

a mountable enclosure having at least one surface, the mountable enclosure being mountable in or on the robotic vehicle;

a processing module disposed within the mountable enclosure, the processing module having a processor and memory, the memory comprising mobile robotic control behaviors, wherein the processing module is configured for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and

for executing and arbitrating among the mobile robotic control behaviors that are configured to control operation of the robotic vehicle based on the role of the robotic control module, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;

a reprogrammable actuator controller configured for communicating with the processing module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving, the actuator control signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system;

a packet network switch disposed within the mountable enclosure configured for relaying instructions for the reprogrammable actuator controller; and

a power supply disposed within the mountable enclosure, the power supply being configured for receiving unregulated power from the mobile robotic platform through a power input to the mountable enclosure and converting the unregulated power into interior regulated power for the processing module, and into exterior regulated power.

33. The robotic control modular enclosure of claim 32, wherein the mobile robotic control behaviors further comprise a teleoperation mode, an obstacle avoidance mode, a waypoint navigation mode, and a following mode.

34. The robotic control modular enclosure of claim 32, wherein the memory comprises a vehicle control unit interface for communicating with a vehicle control unit in the robotic vehicle.

35. The robotic control modular enclosure of claim 32, further comprising an actuator amplifier disposed within the mountable enclosure configured for amplifying the actuator control signal from the reprogrammable actuator controller.

36. A robotic control apparatus for a robotic vehicle, comprising:

a mountable modular enclosure having at least one surface, the mountable modular enclosure being mountable on or in the robotic vehicle;

a reprogrammable actuator controller disposed within the mountable modular enclosure and configured for controlling signals other than signals for actuator driving;

a processor module disposed within the mountable modular enclosure, wherein the processing module is configured for executing and arbitrating among mobile robotic control behaviors based on (i) a location of the mountable modular enclosure module in the vehicle or (ii) a physical connection to the mountable modular enclosure;

an actuator connector on the at least one surface of the mountable modular enclosure, the actuator connector being configured for communicating the signals for actuator driving in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system, the signals being modulated by the reprogrammable actuator controller and based on the mobile robotic control behaviors, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;

a packet network switch disposed within the mountable modular enclosure, the packet network being configured for relaying instructions for the reprogrammable actuator controller;

a plurality of network connectors on the at least one surface of the mountable modular enclosure, the plurality of network connectors being configured for connecting to a packet network and communicating with the packet network switch;

a power supply disposed within the mountable modular enclosure, the power supply being configured for receiving unregulated power from a mobile robotic platform in the robotic vehicle through a power input to the mountable modular enclosure and converting the unregulated power into interior regulated power for the packet network switch and the reprogrammable actuator controller, and into exterior regulated power; and

a power supply connector on the at least one surface of the mountable modular enclosure, the power supply connector being configured for connecting to the exterior regulated power.

37. The robotic control apparatus of claim 36, wherein the signals for actuator driving are from an actuator amplifier that is modulated by the reprogrammable actuator controller.

38. The robotic control apparatus of claim 36, wherein the signals for actuator driving are from an actuator amplifier that is modulated by the reprogrammable actuator controller and the actuator amplifier.

39. The robotic control apparatus of claim 36, wherein the reprogrammable actuator controller is configured for processing and includes one of a digital signal processor, programmable logic device, or gate array;

and

wherein at least part of the processing capability control signals other than the signals for actuator driving.

40. A robotic control apparatus for a robotic vehicle, comprising:

a mountable modular enclosure having at least one surface, the mountable modular enclosure being mountable on or in the robotic vehicle;

a processor module disposed within the mountable modular enclosure, wherein the processing module is configured for executing and arbitrating among mobile robotic control behaviors based on (i) a location of the mountable modular enclosure module in the vehicle or (ii) a physical connection to the mountable modular enclosure;

a reprogrammable actuator controller disposed within the mountable modular enclosure, the reprogrammable actuator controller being configured for issuing actuator control signals within the mountable module and for controlling signals other than the actuator control signals for actuator driving, the actuator control signals being based on the mobile robotic control behaviors, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;

an actuator amplifier disposed within the mountable modular enclosure, the actuator amplifier being configured for receiving the actuator control signals from the reprogrammable actuator controller;

an actuator connector on the at least one surface of the mountable modular enclosure, the actuator connector being configured for communicating actuator drive signals modulated by the reprogrammable actuator controller and the actuator amplifier based on the actuator control signals, the actuator drive signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system;

a packet network switch disposed within the mountable modular enclosure;

a plurality of network connectors on the at least one surface of the mountable modular enclosure, the plurality of network connectors being configured for connecting to a packet network and communicating with the packet network switch, the packet network being configured for relaying instructions for the reprogrammable actuator controller;

a power supply disposed within the mountable modular enclosure, the power supply being configured for receiving unregulated power from a mobile robotic platform in the robotic vehicle through a power input to the mountable modular enclosure and converting the unregulated power into interior regulated power for the packet network switch and the reprogrammable actuator controller, and into exterior regulated power; and

a power supply connector on the at least one surface of the mountable modular enclosure, the power supply connector being configured for connecting to the exterior regulated power.

41. A robotic control unit for use in an autonomous vehicle, comprising:

a single enclosure mountable on or in the autonomous vehicle;

a power supply integrated into the single enclosure;

a processor module integrated into the single enclosure;

a motor controller integrated into the single enclosure;

a motor amplifier positioned proximate to the motor controller integrated into the single enclosure;

a reprogrammable actuator controller configured for communicating with the processor module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving; and

an Ethernet switch integrated into the single enclosure,

wherein the processor module, motor controller and motor amplifier are configured for robotically controlling actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system based on mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver, and wherein the processor module is configured for;

determining a role of the robotic control unit based on (i) a location of the robotic control unit in the vehicle or (ii) a physical connection to the robotic control unit; and

executing and arbitrating among the mobile robotic control behaviors based on the role of the robotic control unit.

42. A robotic control unit for use in an autonomous vehicle, comprising:

an enclosure mountable on or in the autonomous vehicle;

a processor within the enclosure; and

a reprogrammable actuator controller configured for communicating with the processor, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving,

wherein the robotic control unit is configured for controlling at least one motor associated with an operating system of the autonomous vehicle based on mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, and transmission actuator control, the operating system being selected from the group consisting of a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system,

wherein the processor module is configured for;

determining a role of the robotic control unit based on (i) a location of the robotic control unit in the vehicle or (ii) a physical connection to the robotic control unit; and

executing and arbitrating among the mobile robotic control based on the role of the robotic control unit, and

wherein the robotic control unit is configured for receiving unregulated vehicle power and outputting regulated power.

43. A robotics kit for use on a vehicle, comprising:

at least one robotic control unit having a single enclosure mountable on or in the vehicle and configurable to have, within the single enclosure, at least three of a power supply, an Ethernet switch, a motor controller, or a motor amplifier; and

a reprogrammable actuator controller configured for communicating with the processor, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving,

a processor configured for determining a role of the robotic control unit based on (i) a location of the robotic control unit in the vehicle or (ii) a physical connection to the robotic control unit; and

for executing and arbitrating among the mobile robotic control behaviors based on the role of the robotic control unit,

wherein the single enclosure is sized to fit into available idle spaces in the vehicle and the single enclosure is configurable for outputting actuator control signals based on mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver, the actuator control signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system.

44. The robotics kit of claim 43, wherein the dimensions of the robotic control unit are less than 5 inches by 8 inches by 10 inches.

45. A robotic vehicle control system for a robotic vehicle, comprising:

a plurality of interchangeable mountable modular enclosures, each interchangeable mountable modular enclosure being mountable on or in the robotic vehicle and comprising;

at least one surface;

a power input;

an actuator connector on the at least one surface;

a plurality of network connectors on the at least one surface;

a power supply connector on the at least one surface;

a reprogrammable actuator controller configured for communicating signals for actuator driving and for controlling signals other than signals for actuator driving, the signals being modulated by the actuator controller and based on mobile robotic control behaviors;

a packet network switch, each network connector being configured for connecting to a packet network and communicating with the packet network switch, the packet network being configured for relaying instructions for the actuator controller;

a power supply, the power supply being configured for receiving unregulated power from a mobile robotic platform of the robotic vehicle through the power input and converting the unregulated power into interior regulated power for the packet network switch and the reprogrammable actuator controller, and into exterior regulated power, the power supply connector being connected to the exterior regulated power; and

a memory including executable code comprising the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver,

wherein each interchangeable mountable modular enclosure is configurable to execute a selected part of the executable code such that each of the plurality of interchangeable mountable modular enclosures is provided with multiple possible executable code parts for different modular roles and each of the plurality of interchangeable mountable modular enclosures is configurable to execute only the selected part of the executable code appropriate for a selected modular role, wherein the modular roles comprise controlling a vehicle sensor and robotically controlling actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system, wherein the modular role is based on (i) a location of the interchangeable mountable modular enclosure in the robotic vehicle or (ii) a physical connection to the interchangeable mountable modular enclosure.

46. A system, comprising:

a robotic control system configured for controlling a vehicle control system, the robotic control system comprising;

a packet network configured for fitting to extend into and between available idle space within interior compartments of a vehicle body; and

a plurality of interchangeable robotic modular enclosures configured to connect to the packet network, each interchangeable robotic modular enclosure comprising;

a single housing mountable into the available idle space;

a processing module, memory, a reprogrammable actuator controller, and a packet network switch, all integrated into the single housing, the memory comprising mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver, wherein the reprogrammable actuator controller is configured for communicating with the processor module and for controlling signals other than signals for actuator driving;

wherein the processing module is configured for determining a role of the interchangeable robotic modular enclosure based on (i) a location of the interchangeable robotic modular enclosure in the vehicle or (ii) a physical connection to the interchangeable robotic modular enclosure; and

for executing and arbitrating among the mobile robotic control behaviors based on the role of the interchangeable robotic modular enclosure; and

a network connector on a surface of the single housing, the network connector being configured for connecting to the packet network and communicating with the packet network switch; and

the vehicle control system coupled to the vehicle body, the vehicle control system being configured to control a vehicle operational system of the robotic vehicle based on the mobile robotic control behaviors, the vehicle operational system comprising a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system.