A multivalued logic approach to integrating planning and control
Artificial Intelligence - Special volume on planning and scheduling
A layered architecture for office delivery robots
AGENTS '97 Proceedings of the first international conference on Autonomous agents
An autonomous spacecraft agent prototype
AGENTS '97 Proceedings of the first international conference on Autonomous agents
High-level planning and low-level execution: towards a complete robotic agent
AGENTS '97 Proceedings of the first international conference on Autonomous agents
Probabilistic robot navigation in partially observable environments
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Structured reactive controllers: controlling robots that perform everyday activity
Proceedings of the third annual conference on Autonomous Agents
Distributing a Mind on the Internet: The World-Wide-Mind
ECAL '01 Proceedings of the 6th European Conference on Advances in Artificial Life
Design of a Telerobotic Interface System by Using Object Recognition Techniques
Proceedings of the Joint IAPR International Workshops on Advances in Pattern Recognition
Progressive Planning for Mobile Robots (A Progress Report)
Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
The domestic robot—a friendly cognitive system takes care of your home
Ambient intelligence
On-line execution of cc-Golog plans
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
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Office delivery robots have to perform many tasks such as picking up and delivering mail or faxes, returning library books, and getting coffee. They have to determine the order in which to visit locations, plan paths to those locations, follow paths reliably, and avoid static and dynamic obstacles in the process. Reliability and efficiency are key issues in the design of such autonomous robot systems. They must deal reliably with noisy sensors and actuators and with incomplete knowledge of the environment. They must also act efficiently, in real time, to deal with dynamic situations. To achieve these objectives, we have developed a robot architecture that is composed of four layers: obstacle avoidance, navigation, path planning, and task planning. The layers are independent, communicating processes that are always active, processing sensory data and status information to update their decisions and actions. A version of our robot architecture has been in nearly daily use in our building since December 1995. As of January 1997, the robot has traveled more than 110 kilometers (65 miles) in service of over 2500 navigation requests that were specified using our World Wide Web interface.