Lessons learned in integrating sensing into autonomous mobile robot architectures Academic Article

abstract

• This article discusses the impact of sensing on each aspect of the design of the CSM autonomous mobile robot architecture, in particular, the overall control scheme, coordination of behaviours, and representation of different types of knowledge. The CSM/ deliberative reactive system uses three novel mechanisms for maintaining robust perception: a perceptual schema for behavioural sensing, a sensing manager to globally allocate sensing resources, and abstract navigation behaviours to coordinate diverse sensing demands in addition to simplifying motor control. Examples of the operation of each are taken from software developed for the two CSM mobile robots operating in indoor and outdoor task domains. 1997 Taylor & Francis Group, LLC.

authors

• Murphy, Robin

published proceedings

• Journal of Experimental & Theoretical Artificial Intelligence

author list (cited authors)

• Murphy, R. R., & Mali, A.

citation count

• 20

complete list of authors

• Murphy, Robin R||Mali, Amol

publication date

• April 1997

publisher

• Taylor & Francis  Publisher

published in

• Journal of Experimental and Theoretical Artificial Intelligence  Journal

Digital Object Identifier (DOI)

• 10.1080/095281397147077

start page

• 191

end page

• 209

volume

• 9

issue

• 2-3

URL

• http://dx.doi.org/10.1080/095281397147077