DocumentCode
3270754
Title
DEMO 89-the initial experiment with the HERMIES-III robot
Author
Reister, D.B. ; Jones, J.P. ; Butler, P.E. ; Beckerman, M. ; Sweeney, F.J.
Author_Institution
Oak Ridge Nat. Lab., TN, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2562
Abstract
HERMIES-III is a large mobile robot designed for human-scale experiments. The initial experiment with the robot (DEMO 89) was the cleanup of a simulated chemical spill. To perform the experiment, the robot was required to plan a path through an already known world, navigate along the path (avoiding unexpected obstacles), and locate and remove debris from a target area. A description is given of the software system that was developed to perform the experiment. The software system consisted of 19 processes that operated on a distributed set of heterogeneous computers
Keywords
computerised materials handling; mobile robots; navigation; planning (artificial intelligence); DEMO 89; HERMIES-III; chemical spill cleanup; debris removal; materials handling; mobile robot; navigation; path planning; software system; Charge-coupled image sensors; Chemicals; Floppy disks; Hardware; Humans; Laboratories; Mobile robots; Read-write memory; Robot sensing systems; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.132013
Filename
132013
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