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and generate collision-free navigation paths in real time. One of the primary challenges in designing a robot controller is balancing computational performance, power efficiency, and real-time responsiveness. AMRs operate in dynamic environments where they must detect and respond to obstacles quickly. The controller must process sensor inputs, run complex AI algorithms, and execute precise motion and path-planning operations—all within milliseconds. Latency in processing can, therefore, lead to inefficient movement or even safety hazards. As part of these considerations, design engineers must decide between a centralized or decentralized architecture for the controller. In a centralized approach, a single high- performance processor handles multiple functions, integrating motion control, perception, and safety processing within one system-on-chip. This approach reduces overall hardware costs and minimizes power consumption but adds complexity in managing multiple software processes. In contrast, a decentralized architecture distributes processing tasks across multiple controllers, with separate modules handling path planning, perception, safety, and motor control. This approach increases system flexibility and allows AMRs to scale across different applications. For example, an AMR operating in a hazardous environment may require a dedicated safety module, while a simpler version of the same robot might not. A decentralized system allows designers to remove or modify modules without redesigning the entire architecture. Another major design consideration is functional safety certification. Safety- certified software must be separated from C h a p t e r 1 | S u b s y s t e m s o f a n A M R Alka Choudhary Senior Robotics Engineer, ArcBest A robot controller executes motion control algorithms to ensure an AMR follows trajectories smoothly and efficiently while adapting to environmental changes. A well- optimized controller enhances adaptability through parameter tuning for different environments." 7 13 Experts Discuss Autonomous Mobile Robots