In order for a mobile robot to accomplish a non-trivial task, the task must be described in terms of primitive actions of the robot's actuators. Our contention is that the transformation from the high level description of the task to the primitive actions should be performed primarily at execution time, when knowledge about the environment can be obtained through sensors. Our theory is based on the premise that proper application of knowledge increases the robustness of plan execution. We propose to produce the detailed plan of primitive actions and execute it by using primitive components that contain domain specific knowledge and knowledge about the available sensors and actuators. These primitives perform signal and control processing as well as serve as an interface to high-level planning processes. In this work, importance is placed on determining what information is relevant to achieve the goal as well as determining the details necessary to utilize the sensors and actuators.
|Original language||English (US)|
|Title of host publication||IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Subtitle of host publication||Sensor-Based Robotics and Opportunties for its Industrial Applications|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - 1992|
|Event||1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States|
Duration: Jul 7 1992 → Jul 10 1992
|Name||IEEE International Conference on Intelligent Robots and Systems|
|Conference||1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992|
|Period||7/7/92 → 7/10/92|
Bibliographical noteFunding Information:
This work was funded in part by the NSF under grants NSF/CCR-8715220 and NSF/CDA-9022509, and by the ATT Foundation.
© 1992 IEEE.