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Proceedings Paper

Arbitration of Multiple Control Strategies for Mobile Robots
Author(s): Mark B. Kadonoff; Faycal Benayad-Cherif; Austin Franklin; James F. Maddox; Lon Muller; Hans Moravec
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Paper Abstract

Reliability and robustness are of primary importance in a mobile robot control system. Widely. varying operating environments place such stringent. demands on the navigation system that no single controller, no matter how sophisticated, is adequate for sustained operation. Consequently sustained operation in the face of changing environmental conditions may be possible only by running several different controllers concurrently. We propose an arbitration mechanism which accepts inputs from multiple controllers, then generates a single optimal result, This arbitor draws upon a knowledge base which defines the limits within which each controller's algorithm will give adequate performance.

Paper Details

Date Published: 25 February 1987
PDF: 10 pages
Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937787
Show Author Affiliations
Mark B. Kadonoff, Denning Mobile Robotics, Inc. (United States)
Faycal Benayad-Cherif, Denning Mobile Robotics, Inc. (United States)
Austin Franklin, Denning Mobile Robotics, Inc. (United States)
James F. Maddox, Denning Mobile Robotics, Inc. (United States)
Lon Muller, Denning Mobile Robotics, Inc. (United States)
Hans Moravec, Denning Mobile Robotics, Inc. (United States)

Published in SPIE Proceedings Vol. 0727:
Mobile Robots I
Nelson Marquina; William J. Wolfe, Editor(s)

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