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Proceedings Paper

Controlling a mobile robot using partial representations
Author(s): Jonathan Connell
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Paper Abstract

Multiple partial representations greatly facilitate the construction of complex autonomous robots. Such representations are desirable since they are easy to develop and quick to compute. We describe how to select various representations, how to string them together to perform specific tasks, and how to provide the resulting distributed system with an overall goal. As with the original Subsumption Architecture, our approach allows the incremental development of a system by the accretion of successive performance layers. The application of these techniques is illustrated by the analysis of an existing mobile robot which collects soda cans in an unstructured office environment.

Paper Details

Date Published: 14 February 1992
PDF: 12 pages
Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); doi: 10.1117/12.135167
Show Author Affiliations
Jonathan Connell, IBM/Thomas J. Watson Research Ctr. (United States)

Published in SPIE Proceedings Vol. 1613:
Mobile Robots VI
William J. Wolfe; Wendell H. Chun, Editor(s)

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