Complex tasks are usually described as high-level goals, leaving out the details on how to achieve them. However, to control a robot, the task must be described in terms of primitive commands for the robot. Having the robot move itself to and through an unknown, and possibly narrow, doorway is an example of such a task. It is shown how the transformation from high-level goals to primitive commands can be performed at execution time and an architecture is proposed based on reconfigurable objects that contain domain knowledge and knowledge about the sensors and actuators available. The approach is illustrated using actual data from a real robot.
|Number of pages
|Journal of Experimental and Theoretical Artificial Intelligence
|Published - Apr 1 1997
Bibliographical noteFunding Information:
We would like to thank Scott Brandt, John Fischer, Chris Smith, Karen Sutherland, and Eric the Red for their help and eŒorts. This work was funded in part by the NSF under grant NSF} CDA-9022509, and by the AT&T Foundation. Though John Budenske is currently an employee of Architecture Technology Corporation, all researchdescribedinthispaperwasperformedattheArti® cialIntelligence,Robots and Vision Laboratory of the Department of Computer Science, University of Minnesota.