Integrating reaction and planning in a heterogeneous asynchronous architecture for mobile robot navigation

We present an architecture for controlling autonomous mobile robots based on control of continuous activities (processes) rather than discrete actions. We define a hierarchy of activity, and argue that different levels of activities require different sorts of computational mechanisms to control them. Many controversial issues concerning the use of persistent internal state and higher levels of abstraction can be better understood in terms of this hierarchy. Two experiments using the architecture to control mobile robots performing complex navigation tasks are described.

[1]  David P. Miller,et al.  Planning by search through simulations , 1985 .

[2]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[3]  Leslie Pack Kaelbling,et al.  The Synthesis of Digital Machines With Provable Epistemic Properties , 1986, TARK.

[4]  Leslie Pack Kaelbling Rex: A Symbolic Language for the Design and Parallel Implementation of Embedded Systems , 1987 .

[5]  David Chapman,et al.  Planning for Conjunctive Goals , 1987, Artif. Intell..

[6]  Brian H. Wilcox,et al.  A Vision System For A Mars Rover , 1987, Other Conferences.

[7]  Leslie Pack Kaelbling,et al.  Goals as Parallel Program Specifications , 1988, AAAI.

[8]  Jonathan H. Connell,et al.  A colony architecture for an artificial creature , 1989 .

[9]  J. K. Rosenblatt,et al.  A fine-grained alternative to the subsumption architecture for mobile robot control , 1989, International 1989 Joint Conference on Neural Networks.

[10]  Robert James Firby,et al.  Adaptive execution in complex dynamic worlds , 1989 .

[11]  Paul A. Viola,et al.  Cooperative control of a semi-autonomous mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[12]  Anthony Stentz,et al.  The Navlab system for mobile robot navigation , 1990 .

[13]  Ronald C. Arkin,et al.  Integrating behavioral, perceptual, and world knowledge in reactive navigation , 1990, Robotics Auton. Syst..

[14]  Maja J. Matarić,et al.  A Distributed Model for Mobile Robot Environment-Learning and Navigation , 1990 .

[15]  Marc Glenn Slack,et al.  Situationally driven local navigation for mobile robots , 1990 .

[16]  David Chapman,et al.  What are plans for? , 1990, Robotics Auton. Syst..

[17]  Monnett Hanvey Soldo,et al.  Reactive and preplanned control in a mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[18]  Erann Gat,et al.  Reliable goal-directed reactive control of autonomous mobile robots , 1991 .

[19]  Erann Gat ALFA: a language for programming reactive robotic control systems , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[20]  Erann Gat Robust low-computation sensor-driven control for task-directed navigation , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.