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Proceedings Paper

Towards a versatile control system for mobile robots
Author(s): Fabrice R. Noreils
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Paper Abstract

The goal of a mobile robot is not only to perform a large variety of task but also to adapt its behavior to the dynamic of the environment. Such a robot needs both reflexive and planning capabilities. Moreover we wish that a mobile robot be able to coordinate its activity with other mobile robots. This paper is intended to show that the integration of all these capabilities (reflexivity planning and coordination) is feasible in order to acheive this goal a new robot architecture is proposed. This architecture is composed of three levels: functional control and planner. Furthermore this architecture provides important features such as a progressive and programmable reactivity robustness additivity and versatility. This paper emphasizes the control level and how it is used by the planner level. In order to demonstrate the feasibility of such an approach a complete implementation of this architecture on our mobile robot including experiments are described.

Paper Details

Date Published: 1 March 1991
PDF: 13 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25481
Show Author Affiliations
Fabrice R. Noreils, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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