Why is it so difficult for a robot to pass through a doorway using ultrasonic sensors?
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 3124-3129 vol.4
- https://doi.org/10.1109/robot.1994.351090
Abstract
Complex tasks are usually described as high-level goals, leaving out the details on how to achieve them. However, to control a robot, details must be provided. Having the robot move itself to and through an unknown, and possibly narrow, doorway is an example of such a task. The authors illustrate the difficulty of such a task using actual data from a real robot. The authors show how the transformation from high-level goals to primitive commands can be performed at execution time and they propose an architecture based on reconfigurable objects that contain domain knowledge and knowledge about the sensors and actuators available. The authors then show how their approach is used in solving the illustrated task.Keywords
This publication has 8 references indexed in Scilit:
- Achieving Goals Through Interaction With Sensors And ActuatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Dynamic sensor planningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Building Symbolic Primitives with Continuous Control RoutinesPublished by Elsevier ,1992
- Plan guided reactionIEEE Transactions on Systems, Man, and Cybernetics, 1990
- Motor Schema — Based Mobile Robot NavigationThe International Journal of Robotics Research, 1989
- Planning sensing strategies in a robot work cell with multi-sensor capabilitiesIEEE Transactions on Robotics and Automation, 1989
- A robust layered control system for a mobile robotIEEE Journal on Robotics and Automation, 1986
- Logical sensor systemsJournal of Robotic Systems, 1984