Development of a Sensor Fusion Strategy for Robotic Application Based on Geometric Optimization
Journal of Intelligent and Robotic Systems
RoboCup 2000: Robot Soccer World Cup IV
A vision-based approach for intelligent robot navigation
International Journal of Intelligent Systems Technologies and Applications
An effective robotic model of action selection
CAEPIA'05 Proceedings of the 11th Spanish association conference on Current Topics in Artificial Intelligence
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The authors' experience over the years with different architectures and planning systems for mobile robots has led them to a distributed approach where an arbiter receives votes for and against commands from each subsystem and decides upon the course of action which best satisfies the current goals and constraints of the system. Centralized arbitration of votes from distributed, independent decision-making processes provides coherent, rational, goal-directed behavior while preserving real-time responsiveness to its immediate physical environment. The Distributed Architecture for Mobile Navigation (DAMN) has been successfully used to integrate various independently developed subsystems, providing systems that perform road following, cross-country navigation, or teleoperation while avoiding obstacles and meeting mission objectives. Examples of implemented systems are given. Further research will seek to more rigorously define the behavior of the system.