Proceedings PaperTowards a versatile control system for mobile robots
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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.