Title :
Concurrent planning and execution for autonomous robots
Author_Institution :
Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The task control architecture (TCA) provides communication and coordination facilities to construct distributed, concurrent robotic systems. The use of TCA in a system that walks a legged robot through rugged terrain is described. The walking system, as originally implemented, had a sequential sense-plan-act control cycle. Utilizing TCA features for task sequencing and monitoring, the system was modified to concurrently plan and execute steps. Walking speed improved by over 30%, with only a relatively modest conversion effort.<>
Keywords :
mobile robots; planning (artificial intelligence); TCA features; autonomous robots; concurrent planning; concurrent robotic systems; coordination facilities; legged robot; rugged terrain; task control architecture; task sequencing; walking speed; Automatic control; Concurrent computing; Control systems; Legged locomotion; Monitoring; Motion planning; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation;
Journal_Title :
Control Systems, IEEE
