DAMN: a distributed architecture for mobile navigation

1 April 1997

journal article
research article
Published by Taylor & Francis in Journal of Experimental & Theoretical Artificial Intelligence

Vol. 9 (2-3) , 339-360
https://doi.org/10.1080/095281397147167

Abstract

An architecture is presented in which distributed task-achieving modules, or behaviours, cooperatively determine a mobile robot's path by voting for each of various possible actions. An arbiter then performs command fusion and selects that action which best satisfies the prioritized goals of the system, as expressed by these votes, without the need to average commands. Command fusion allows multiple goals and constraints to be considered simultaneously. Examples of implemented systems are given, and future research directions in command fusion are discussed.

Keywords

MOBILE ROBOTS DISTRIBUTED ARCHITECTURE BEHAVIOURS VOTING ARBITRATION COMMAND FUSION

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