A Robust Layered Control System for a Mobile Robot

dc.creator	Brooks, Rodney A.
dc.date	2004-10-04T14:56:11Z
dc.date	2004-10-04T14:56:11Z
dc.date	1985-09-01
dc.date.accessioned	2013-10-09T02:45:26Z
dc.date.available	2013-10-09T02:45:26Z
dc.date.issued	2013-10-09
dc.identifier	AIM-864
dc.identifier	http://hdl.handle.net/1721.1/6432
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	We describe a new architecture for controlling mobile robots. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules which communicate over low bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust and flexible robot control system. The system is intended to control a robot that wanders the office areas of our laboratory building maps of its surroundings. In this paper we demonstrate the system controlling a detailed simulation of the robot.
dc.format	1851392 bytes
dc.format	1648488 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-864
dc.title	A Robust Layered Control System for a Mobile Robot

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