Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Robot Motion Planning
Robots with the best of intentions
Artificial intelligence today
RoboCup 2001: Robot Soccer World Cup V
Using hierarchical fuzzy behaviors in the RoboCup domain
Autonomous robotic systems
Self-maintained distributed tuples for field-based coordination in dynamic networks
Proceedings of the 2004 ACM symposium on Applied computing
Co-Fields: A Physically Inspired Approach to Motion Coordination
IEEE Pervasive Computing
A multimode navigation system for an assistive robotics project
Autonomous Robots
Engineering mobility in large multi agent systems: a case study in urban traffic management
Software engineering for large-scale multi-agent systems
Motion coordination in the quake 3 arena environment: a field-based approach
E4MAS'04 Proceedings of the First international conference on Environments for Multi-Agent Systems
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In autonomous robotics, so-called artificial potential fields are often used to plan and control the motion of a physical robot. In this paper, we propose to use an artificial electric field to address the problem or real time action selection in embodied, autonomous agents. We attach positive and negative electric charges to the relevant objects in the agent's domain, and use the resulting electric field to estimate the heuristic value of a given configuration. This value is used to select the action that results in the best configuration. This allows us to consider in the same framework both navigation and manipulation actions. We apply the electric field approach in the RoboCup domain, and present results drawn from our experience in the Sony legged robots league.