A Plan-Based Control Architecture for Intelligent Robotic Agents

Authors:
Incheol Kim;Hangcheol Shin;Jaehyuk Choi
Affiliations:
Department of Computer Science, Kyonggi University, Suwon-si, Kyonggi-do, 442-760, South Korea;Department of Computer Science, Kyonggi University, Suwon-si, Kyonggi-do, 442-760, South Korea;Department of Computer Science, Kyonggi University, Suwon-si, Kyonggi-do, 442-760, South Korea
Venue:
KES-AMSTA '07 Proceedings of the 1st KES International Symposium on Agent and Multi-Agent Systems: Technologies and Applications
Year:
2007

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Plan-based control of robotic agents: improving the capabilities of autonomous robots

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Abstract

We present a plan-based control architecture for intelligent robotic agents. Many modern robot architectures adopt a hybrid approach using control-theoretic mechanisms as well as plan-based mechanisms, because of their complementary strengths and weaknesses. Our three-layered control architecture implements dependability through plan-based management of a set of distributed independent behavioral components. With navigational tasks in a complex maze, we investigate robustness of our control architecture.