Concurrent planning and execution for autonomous robots
- 1 February 1992
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems
- Vol. 12 (1) , 46-50
- https://doi.org/10.1109/37.120453
Abstract
The task control architecture (TCA) provides communication and coordination facilities to construct distributed, concurrent robotic systems. The use of TCA in a system that walks a legged robot through rugged terrain is described. The walking system, as originally implemented, had a sequential sense-plan-act control cycle. Utilizing TCA features for task sequencing and monitoring, the system was modified to concurrently plan and execute steps. Walking speed improved by over 30%, with only a relatively modest conversion effort.Keywords
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