Title :
Supervisory control of mobile robots using Sensory EgoSphere
Author :
Kawamura, K. ; Peters, R.A., II ; Johnson, C. ; Nilas, P. ; Thongchai, S.
Author_Institution :
Sch. of Eng., Vanderbilt Univ., Nashville, TN, USA
Abstract :
Describes the supervisory control of mobile robots using a biologically inspired short-term memory structure called a Sensory EgoSphere. The EgoSphere is implemented as a virtual geodesic dome upon which sensory data from the surroundings of the robot are written. The EgoSphere is managed by a distinct agent in a distributed agent-based robot control architecture called the Intelligent Machine Architecture. The paper also describes a human-robot interface and a testbed for evaluating the control system.
Keywords :
graphical user interfaces; intelligent control; mobile robots; path planning; Intelligent Machine Architecture; Sensory EgoSphere; biologically inspired short-term memory structure; distributed agent-based robot control architecture; human-robot interface; mobile robots; sensory data; supervisory control; virtual geodesic dome; Control systems; Intelligent agent; Intelligent robots; Intelligent sensors; Machine intelligence; Mobile robots; Robot control; Robot sensing systems; Supervisory control; System testing;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on
Print_ISBN :
0-7803-7203-4
DOI :
10.1109/CIRA.2001.1013256
