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Proceedings Paper

Using qualitative maps to direct reactive robots
Author(s): Randolph S. Bertin; Thomas W. Pendleton
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Paper Abstract

The principal advantage of mobile robots is that they are able to go to specific locations to perform useful tasks rather than have the tasks brought to them. It is important, therefore, that the robot be able to reach desired locations efficiently and reliably. A mobile robot whose environment extends significantly beyond its sensory horizon must maintain a representation of the environment, a map, in order to attain these efficiency and reliability requirements. We believe that qualitative mapping methods provide useful and robust representation schemes and that such maps may be used to direct the actions of a reactively controlled robot. In this paper we describe our experience in employing qualitative maps to direct, through the selection of desired control strategies, a reactive-behavior based robot. This mapping capability represents the development of one aspect of a successful deliberative/reactive hybrid control architecture.

Paper Details

Date Published: 1 November 1992
PDF: 12 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131704
Show Author Affiliations
Randolph S. Bertin, MITRE Corp. (United States)
Thomas W. Pendleton, NASA Johnson Space Ctr. (United States)

Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

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