[go: up one dir, main page]
More Web Proxy on the site http://driver.im/
Skip to main content

A Teleo-Reactive Architecture for Fast, Reactive and Robust Control of Mobile Robots

  • Conference paper
New Frontiers in Applied Artificial Intelligence (IEA/AIE 2008)

Abstract

One of the elementary tasks of an autonomous mobile robot is the execution of different behavior patterns in order to fulfill a given task. The complexity of this problem is especially high if the robot operates in a dynamic, unpredictable environment and requires the parallel control of multiple actuators. In this paper we present a novel architecture for robust and fast mobile robot control. The architecture is based on Teleo-Reactive Programs. We discuss the benefits and drawbacks of such programs, extend the basic definition for the parallel control of multiple actuators, and propose a new language and a compiler for extended Teleo-Reactive Programs. These tools simplify the creation of new behavior patterns and increase the runtime performance. Finally, we discuss implementation issues of the architecture when applying it to RoboCup Middle-Size soccer robots.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Nilsson, N.J.: Teleo-reactive programs for agent control. JAIR 1, 139–158 (1994)

    Google Scholar 

  2. Nilsson, N.J.: Toward agent programs with circuit semantics. Technical Report STAN-CS-92-1412, Standford University (January 1992)

    Google Scholar 

  3. Tews, A., Wyeth, G.: Thinking as one: Coordination of multiple mobile robots by shared representations. In: IROS, pp. 1391–1396 (2000)

    Google Scholar 

  4. Brooks, R.A.: A robust layered control system for a mobile robot. IEEE Jornal of Robotics and Automation RA-2(1), 14–23 (1986)

    Google Scholar 

  5. Utz, H.: Advanced Software Concepts and Technologies for Autonomous Mobile Robotics. PhD thesis, University of Ulm, Neuroinformatics (2005)

    Google Scholar 

  6. Fraser, G., Steinbauer, G., Wotawa, F.: Plan execution in dynamic environments. In: 18th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, Bari, Italy, pp. 208–217. Springer, Heidelberg (2005)

    Google Scholar 

  7. Beetz, M.: Plan-Based Control of Robotics Agents, Improving the Capabilities of Autonomous Robots. LNCS (LNAI), vol. 2554. Springer, Heidelberg (2002)

    Google Scholar 

  8. Nilsson, N.J.: Teleo-reactive programs and the triple-tower architecture. Electronic Transactions on Artificial Intelligence 5, 99–110 (2001)

    Google Scholar 

  9. Simmons, R., Apfelbaum, D.: A task description language for robot control. In: Conference on Intelligent Robotics and Systems, pp. 1931–1937 (1998)

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Editor information

Ngoc Thanh Nguyen Leszek Borzemski Adam Grzech Moonis Ali

Rights and permissions

Reprints and permissions

Copyright information

© 2008 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Gubisch, G., Steinbauer, G., Weiglhofer, M., Wotawa, F. (2008). A Teleo-Reactive Architecture for Fast, Reactive and Robust Control of Mobile Robots. In: Nguyen, N.T., Borzemski, L., Grzech, A., Ali, M. (eds) New Frontiers in Applied Artificial Intelligence. IEA/AIE 2008. Lecture Notes in Computer Science(), vol 5027. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69052-8_57

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-69052-8_57

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-69045-0

  • Online ISBN: 978-3-540-69052-8

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics