Achieving Goals Through Interaction with Sensors and Actuators

J. Budenske, Maria L Gini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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 languageEnglish (US)
Title of host publicationIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationSensor-Based Robotics and Opportunties for its Industrial Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages903-908
Number of pages6
ISBN (Electronic)0780307372
DOIs
StatePublished - Jan 1 1992
Event1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
Duration: Jul 7 1992Jul 10 1992

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
CountryUnited States
CityRaleigh
Period7/7/927/10/92

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  • Cite this

    Budenske, J., & Gini, M. L. (1992). Achieving Goals Through Interaction with Sensors and Actuators. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (pp. 903-908). [594500] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.594500