DocumentCode :
306182
Title :
Use of scripts for coordinating perception and action
Author :
Murphy, Robin R.
Author_Institution :
Centre for Robotics & Intelligent Syst., Colorado Sch. of Mines, Golden, CO, USA
Volume :
1
fYear :
1996
fDate :
4-8 Nov 1996
Firstpage :
156
Abstract :
This paper proposes scripts as a framework for coordinating and controlling a collection of behaviors needed to perform a highly stereotyped task. Scripts facilitate planning by explicitly representing the types of situations the behaviors are suited for, and the default schedule or plan of activities. They support building abstract behaviors from libraries of primitive independent behaviors by providing the meta-knowledge needed to smooth over minor incompatibilities. Scripts enable robust execution, allowing subscripts to be attached for reacting to anomalous conditions. The utility of scripts is demonstrated via a case study of topological navigation. In this case study, scripts provided the foundation for the abstract navigation behaviors used by a mobile robot to travel through indoor office spaces
Keywords :
knowledge representation; mobile robots; path planning; abstract navigation behaviors; anomalous conditions; default schedule; highly stereotyped task; indoor office spaces; meta-knowledge; minor incompatibilities; mobile robot; perception/action coordination; primitive independent behaviors; scripts; topological navigation; Control systems; Intelligent systems; Libraries; Mobile robots; Natural language processing; Navigation; Robot kinematics; Robot sensing systems; Robotic assembly; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
Type :
conf
DOI :
10.1109/IROS.1996.570653
Filename :
570653
Link To Document :
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