Mtshali, MbaliEngelbrecht, Andries P.2011-05-042011-05-042010-01Mtshali, M & Engelbrecht, A 2010, 'Robotic architectures', Defence Science Journal, vol. 60, no. 1, pp. 15-22. [http://publications.drdo.gov.in/ojs/index.php/dsj/index]0011-748Xhttp://hdl.handle.net/2263/16467In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.en© 2010, DESIDOCMobile robotic systemsAutonomous robotsRobotic architecturesRoboticsMobile robotsArticle