Fig. 8
From: The mechanical structure of mobile module for new self-configurable intelligent environment
Software architecture of MoMo3. MoMo3 has five main tasks: device control, generating destination, path planning, shred memory, and motion control. Numbers indicates the order in the flow of software. In the flow of the software, and are executed when the destination is the same as the current position. the latest information of the spatial situation, the destination and current position, the destination and current position of the other MoMos, the next position of the MoMo, the updated position after motion, the activate flag of the device control task, the updated spatial information