Autonomous task control for mobile robots

The design and implementation of the task control architecture (TCA), a general-purpose framework plus facilities for building and controlling mobile robots, are presented. TCA is designed to support capabilities needed by many autonomous mobile robot systems, including concurrent planning, execution, and perception; reacting to changes in the environment; error recovery; and handling multiple tasks. The facilities that TCA provides for implementing these capabilities, including distributed processing, explicit representation and manipulation of hierarchical plans, concurrent monitoring of selected conditions, and context-dependent exception handling, are described, along with a mobile manipulator that uses the architecture to operate with multiple goals in a dynamic and uncertain environment. TCA has been implemented and is used to run several mobile robot testbeds.<<ETX>>

[1]  Dewayne E. Perry,et al.  ADA for Experienced Programmers , 1983 .

[2]  Reid G. Simmons,et al.  Commonsense Arithmetic Reasoning , 1986, AAAI Conference on Artificial Intelligence.

[3]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[4]  David W. Payton,et al.  An architecture for reflexive autonomous vehicle control , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[5]  David Chapman,et al.  Pengi: An Implementation of a Theory of Activity , 1987, AAAI.

[6]  Fabrice R. Norelis,et al.  Control of mobile robot actions , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[7]  Takeo Kanade,et al.  Ambler: an autonomous rover for planetary exploration , 1989, Computer.

[8]  Reid Simmons,et al.  Experience with a Task Control Architecture for Mobile Robots , 1989 .

[9]  Robert James Firby,et al.  Adaptive execution in complex dynamic worlds , 1989 .

[10]  Jonathan H. Connell,et al.  A behavior-based arm controller , 1989, IEEE Trans. Robotics Autom..

[11]  Reid G. Simmons,et al.  Single leg walking with integrated perception, planning and control , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[12]  Tom M. Mitchell,et al.  A task control architecture for autonomous robots , 1990 .

[13]  Reid G. Simmons,et al.  Concurrent planning and execution for a walking robot , 1990, Proceedings. 1991 IEEE International Conference on Robotics and Automation.