HEIR - A Non Hierarchical Hybrid Architecture for Intelligent Robots

In recent years different control architectures have been proposed for autonomous robots that are required to carry out service tasks robustly in civilian environments. In this paper a novel architecture is presented, which differs from the typical approaches from two main points of view: it is non hierarchical and it introduces an additional level of representation and reasoning based on image based, iconic descriptions. The paper will show how the proposed architecture has been implemented on a prototypical system, discuss its properties in detail and present our experimental experiences demonstrating the plausibility of the approach.

[1]  Philippe Lalanda,et al.  A Domain-Specific Software Architecture for Adaptive Intelligent Systems , 1995, IEEE Trans. Software Eng..

[2]  D. Corkill.  Blackboard Systems , 1991 .

[3]  Gianni Vercelli,et al.  A Cognitive Hybrid Model for Autonomous Navigation , 1995, AI*IA.

[4]  Maurizio Piaggio,et al.  A distributed architecture for autonomous robots , 1996, Proceedings of ICECCS '96: 2nd IEEE International Conference on Engineering of Complex Computer Systems (held jointly with 6th CSESAW and 4th IEEE RTAW).

[5]  Maurizio Piaggio,et al.  Distributing a robotic system on a network: the ETHNOS approach , 1996, Adv. Robotics.

[6]  Patrick Brézillon,et al.  Lecture Notes in Artificial Intelligence , 1999 .

[7]  Rodney A. Brooks,et al.  Intelligence Without Reason , 1991, IJCAI.

[8]  Erann Gat,et al.  Experiences with an architecture for intelligent, reactive agents , 1997, J. Exp. Theor. Artif. Intell..

[9]  H. P Nii,et al.  Blackboard Systems , 1986 .

[10]  Alberto Elfes,et al.  Sonar-based real-world mapping and navigation , 1987, IEEE J. Robotics Autom..

[11]  Innes A. Ferguson,et al.  Touring Machines: autonomous agents with attitudes , 1992, Computer.

[12]  Jörg P. Müller,et al.  The Right Agent (Architecture) to do the Right Thing , 1998, ATAL.

[13]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[14]  Jorg P. Muller,et al.  The Design of Intelligent Agents: A Layered Approach , 1996 .

[15]  Thomas B. Sheridan,et al.  Space teleoperation through time delay: review and prognosis , 1993, IEEE Trans. Robotics Autom..

[16]  David P. Miller,et al.  Experiences with an architecture for intelligent, reactive agents , 1995, J. Exp. Theor. Artif. Intell..

[17]  Henrik I. Christensen,et al.  Theoretical methods for planning and control in mobile robotics , 1997, Proceedings of 1st International Conference on Conventional and Knowledge Based Intelligent Electronic Systems. KES '97.

[18]  Maurizio Piaggio,et al.  An information exchange protocol in a multi-layer distributed architecture , 1997, Proceedings of the Thirtieth Hawaii International Conference on System Sciences.