The Navlab system for mobile robot navigation
The Navlab system for mobile robot navigation
Reliable goal-directed reactive control of autonomous mobile robots
Reliable goal-directed reactive control of autonomous mobile robots
A Distributed Model for Mobile Robot Environment-Learning and Navigation
A Distributed Model for Mobile Robot Environment-Learning and Navigation
Adaptive execution in complex dynamic worlds
Adaptive execution in complex dynamic worlds
Robotics and Autonomous Systems
Integrating behavioral, perceptual, and world knowledge in reactive navigation
Robotics and Autonomous Systems
Reactive reasoning and planning
AAAI'87 Proceedings of the sixth National conference on Artificial intelligence - Volume 2
Failure recovery: a model and experiments
AAAI'91 Proceedings of the ninth National conference on Artificial intelligence - Volume 2
Reactive navigation through rough terrain: experimental results
AAAI'92 Proceedings of the tenth national conference on Artificial intelligence
Evolution of fuzzy behaviors for multi-robotic system
Robotics and Autonomous Systems
Planning for human-robot teaming in open worlds
ACM Transactions on Intelligent Systems and Technology (TIST)
A multi-expert model for dialogue and behavior control of conversational robots and agents
Knowledge-Based Systems
Practical development of hybrid intelligent agent systems with SoSAA
AICS'09 Proceedings of the 20th Irish conference on Artificial intelligence and cognitive science
Separation of concerns in hybrid component and agent systems
International Journal of Communication Networks and Distributed Systems
Dynamic world model with the lazy potential function
KES-AMSTA'11 Proceedings of the 5th KES international conference on Agent and multi-agent systems: technologies and applications
Autonomous Agents and Multi-Agent Systems
Global navigation through local reference frames
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
Johnny: An Autonomous Service Robot for Domestic Environments
Journal of Intelligent and Robotic Systems
Intelligent Execution Monitoring in Dynamic Environments
Fundamenta Informaticae - The 1st International Workshop on Knowledge Representation and Approximate Reasoning (KR&AR)
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This paper presents a heterogeneous, asynchronous architecture for controlling autonomous mobile robots which is capable of controlling a robot performing multiple tasks in real time in noisy, unpredictable environments. The architecture produces behavior which is reliable, task-directed (and taskable), and reactive to contingencies. Experiments on real and simulated realworld robots are described. The architecture smoothly integrates planning and reacting by performing these two functions asynchronously using heterogeneous architectural elements, and using the results of planning to guide the robot's actions but not to control them directly. The architecture can thus be viewed as a concrete implementation of Agre and Chapman's plans-ascommunications theory. The central result of this work is to show that completely unmodified classical AI programming methodologies using centralized world models can be usefully incorporated into real-world embedded reactive systems.