Making a Clean Sweep: Behavior Based Vacuuming

This position paper discusses how the techniques and building blocks in use at the Georgia Tech Mobile Robot Lab could be used to construct an autonomous vacuum cleaner. Previous research at Georgia Tech using the Autonomous Robot Architecture (AURA)[2, has demonstrated robust operation in dynamic and partially modeled environments[3, 12]. Although much of this work has been deployed and tested within the manufacturing domain, the inherent modularity of the reactive component of the AuRA architecture facilitates major retargeting of the domain with minimal new development[l]. This paper will focus on how the existing work at Georgia Tech could be enhanced to perform the vacuuming task.

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