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Proceedings Paper

Architecture for reactive planning of robot actions
Author(s): Jukka P. Riekki; Juha Roening
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Paper Abstract

In this article, a reactive system for planning robot actions is described. The described hierarchical control system architecture consists of planning-executing-monitoring-modelling elements (PEMM elements). A PEMM element is a goal-oriented, combined processing and data element. It includes a planner, an executor, a monitor, a modeler, and a local model. The elements form a tree-like structure. An element receives tasks from its ancestor and sends subtasks to its descendants. The model knowledge is distributed into the local models, which are connected to each other. The elements can be synchronized. The PEMM architecture is strictly hierarchical. It integrated planning, sensing, and modelling into a single framework. A PEMM-based control system is reactive, as it can cope with asynchronous events and operate under time constraints. The control system is intended to be used primarily to control mobile robots and robot manipulators in dynamic and partially unknown environments. It is suitable especially for applications consisting of physically separated devices and computing resources.

Paper Details

Date Published: 9 January 1995
PDF: 10 pages
Proc. SPIE 2352, Mobile Robots IX, (9 January 1995); doi: 10.1117/12.198960
Show Author Affiliations
Jukka P. Riekki, Univ. of Oulu (Finland)
Juha Roening, Univ. of Oulu (Finland)


Published in SPIE Proceedings Vol. 2352:
Mobile Robots IX
William J. Wolfe; Wendell H. Chun, Editor(s)

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