Decomposability Theory of Intelligent Robot Architecture
智能机器人体系结构可分解性理论研究

During the previous works on intelligent robot architectures, the researchers experientially decomposed the functional modules and established their relations according to the requirements. With the increased complexity in robot systems and the coupling relations among modules, the decomposability of architecture has been becoming a more and more challenge problem that hardly has been lucubrated. In this paper, a decomposability theorem is presented and proved by differentiable manifolds theories. The theorem lays a theoretical foundation for hierarchical and modular im- plementation of the complex robot architectures.