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Proceedings Paper

High-level modes for controlling mobile robots
Author(s): Willie Y. Lim; Harry T. Breul; Alex N. Peck
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Paper Abstract

This paper discusses how the operation of a mobile robot in a real environment can be decomposed into three concurrent modes -- the reflexive, deliberate action, and self-awareness modes. In the reflexive mode, the robot reacts quickly to changes in the environment (e.g., the robot pauses when objects cross its path). When the robot needs to carry out more deliberate actions, such as moving between rooms of a large building or within a space colony structure, it has to invoke the deliberate action mode in order to be able to plan and reason about what it wants to do and how to go about doing it. Both these modes use the robot's ability to sense and interact with its external environment. The robot must also have a sense of what it can and cannot do given its current internal conditions. Such an ability is provided for by the self- awareness mode in which the robot's internal states (e.g., power pack energy level) are continually sensed and monitored to determine if the current mission or task should be completed, suspended, or aborted (e.g., suspend the current task and replace/recharge the power pack when the energy level is too low).

Paper Details

Date Published: 14 February 1992
PDF: 8 pages
Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); doi: 10.1117/12.135193
Show Author Affiliations
Willie Y. Lim, Grumman Corporate Research Ctr. (United States)
Harry T. Breul, Grumman Corporate Research Ctr. (United States)
Alex N. Peck, Grumman Corporate 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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