Robust low-computation sensor-driven control for task-directed navigation
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2484-2489 vol.3
- https://doi.org/10.1109/robot.1991.131998
Abstract
Reliable goal-directed navigation is demonstrated on a real robot in an unmodified office environment using crude sensors and minimal computation. The control system is based on reactive behaviors which fail cognizantly, that is, which can detect when something goes wrong. Cognizant failure allows unreliable behaviors to be combined by a reactive scheduler to produce an overall behavior which is more reliable than any of its components. Algorithms which fail cognizantly are much easier to produce than algorithms which never fail. Several such algorithms are presented.Keywords
This publication has 8 references indexed in Scilit:
- ALFA: a language for programming reactive robotic control systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Design for navigationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Reactive and preplanned control in a mobile robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Integrating error recovery in a mobile robot control systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Cooperative control of a semi-autonomous mobile robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Integrating behavioral, perceptual, and world knowledge in reactive navigationRobotics and Autonomous Systems, 1990
- A robust layered control system for a mobile robotIEEE Journal on Robotics and Automation, 1986
- An architecture for reflexive autonomous vehicle controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986