Title :
Autonomous task control for mobile robots
Author :
Simmons, Reid ; Lin, Long-Ji ; Fedor, Christopher
Author_Institution :
Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The design and implementation of the task control architecture (TCA), a general-purpose framework plus facilities for building and controlling mobile robots, are presented. TCA is designed to support capabilities needed by many autonomous mobile robot systems, including concurrent planning, execution, and perception; reacting to changes in the environment; error recovery; and handling multiple tasks. The facilities that TCA provides for implementing these capabilities, including distributed processing, explicit representation and manipulation of hierarchical plans, concurrent monitoring of selected conditions, and context-dependent exception handling, are described, along with a mobile manipulator that uses the architecture to operate with multiple goals in a dynamic and uncertain environment. TCA has been implemented and is used to run several mobile robot testbeds
Keywords :
mobile robots; planning (artificial intelligence); concurrent monitoring; concurrent planning; design; distributed processing; error recovery; execution; general-purpose framework; hierarchical plans; implementation; mobile robots; perception; task control architecture; Buildings; Centralized control; Computer architecture; Control systems; Manipulators; Mobile robots; Robot control; Robot kinematics; Robot sensing systems; Testing;
Conference_Titel :
Intelligent Control, 1990. Proceedings., 5th IEEE International Symposium on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-2108-7
DOI :
10.1109/ISIC.1990.128528