Extending Kohonen's self-organizing mapping algorithms to learn ballistic movements
Proceedings of the NATO Advanced Research Workshop on Neural computers
Minimalist mobile robotics: a colony-style architecture for an artificial creature
Minimalist mobile robotics: a colony-style architecture for an artificial creature
A Bayesian approach to real-time obstacle avoidance for a mobile robot
Autonomous Robots
A layered architecture for office delivery robots
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
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Map learning and high-speed navigation in RHINO
Artificial intelligence and mobile robots
Artificial intelligence and mobile robots
Integrating POMDP and reinforcement learning for a two layer simulated robot architecture
Proceedings of the third annual conference on Autonomous Agents
An agent architecture to fulfill real-time requirements
AGENTS '00 Proceedings of the fourth international conference on Autonomous agents
An Behavior-based Robotics
Robot Motion Planning
Towards Real-Time Execution of Motion Tasks
The 2nd International Symposium on Experimental Robotics II
Learning the Visuomotor Coordination of a Mobile Robot by Using the Invertible Kohonen Map
IWANN '96 Proceedings of the International Workshop on Artificial Neural Networks: From Natural to Artificial Neural Computation
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Proceedings of the 2005 conference on Self-Organization and Autonomic Informatics (I)
Task allocation via self-organizing swarm coalitions in distributed mobile sensor network
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Action selection for single- and multi-robot tasks using cooperative extended Kohonen maps
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Performance metrics and evaluation of a path planner based on genetic algorithms
PerMIS '07 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
Hi-index | 0.00 |
Research in the planning and control of mobile robots has received much attention in the past two decades. Two basic approaches have emerged from these research efforts: deliberative vs.\ reactive. These two approaches can be distinguished by their different usage of sensed data and global knowledge, speed of response, reasoning capability, and complexity of computation. Their strengths are complementary and their weaknesses can be mitigated by combining the two approaches in a hybrid architecture. This paper describes a method for goal-directed, collision-free navigation in unpredictable environments that employs a behavior-based hybrid architecture with asynchronously operating behavioral modules. It differs from existing hybrid architectures in two important ways: (1) the planning module produces a sequence of checkpoints instead of a conventional complete path, and (2) in addition to obstacle avoidance, the reactive module also performs target reaching under the control of a self-organizing neural network. The neural network is trained to perform fine, smooth motor control that moves the robot through the checkpoints. These two aspects facilitate a tight integration between high-level planning and low-level control, which permits real-time performance and easy path modification even when the robot is en route to the goal position.