Autonomous mobile manipulators managing perception and failures

  • Authors:

  • Alberto Finzi;Fiora Pirri;Marco Pirrone;Massimo Romano;Milko Vaccaro

  • Affiliations:

  • Dipartimento di Informatica e Sistemistica, Università degli Studi di Roma "La Sapienza", Via Salaria 113, 00198, Roma, Italy;Dipartimento di Informatica e Sistemistica, Università degli Studi di Roma "La Sapienza", Via Salaria 113, 00198, Roma, Italy;Dipartimento di Informatica e Sistemistica, Università degli Studi di Roma "La Sapienza", Via Salaria 113, 00198, Roma, Italy;Dipartimento di Informatica e Sistemistica, Università degli Studi di Roma "La Sapienza", Via Salaria 113, 00198, Roma, Italy;Dipartimento di Informatica e Sistemistica, Università degli Studi di Roma "La Sapienza", Via Salaria 113, 00198, Roma, Italy

  • Venue:
  • Proceedings of the fifth international conference on Autonomous agents
  • Year:
  • 2001

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Abstract

We present a control system for autonomous mobile manipulators based on a theory of actions integrated with a theory of perception and failures. The system applies to autonomous manipulators built for simple missions like building towers of blocks, collecting balls of paper and putting them into a bin, or clearing obstacles from a path. For these application domains we have built three autonomous agents: ArmHand0, ArmHandONE and A.R.R.I.G.O. The core of the system is a high level program controlling the on-line agent behaviour: while a goal is not achieved, it selects a task from a library of possible subplans and executes it. The task, when correctly chosen, must lead to a subgoal position. At the end of each task execution, visual perception is used to monitor the coherence between the configuration of the domain and the configuration entailed as a consequence of the execution of the task. In case of a misalignment between the predicted state and the perceived one, a diagnostic procedure is activated.