Title :
Integrated, plan-based control of autonomous robot in human environments
Author :
Beetz, Michael ; Arbuckle, Tom ; Belker, Thorsten ; Cremers, Armin B. ; Schulz, Dirk ; Bennewitz, Maren ; Burgard, Wolfram ; Hähnel, Dirk ; Fox, Dieter ; Grosskreutz, Henrik
Author_Institution :
Munich Univ. of Technol., Germany
Abstract :
The authors extend the Rhino robot by adding the means for plan-based high-level control and plan transformation, further enhancing its probabilistic reasoning capabilities. The result: an autonomous robot capable of accomplishing prolonged, complex, and dynamically changing tasks in the real world.
Keywords :
mobile robots; path planning; state estimation; uncertainty handling; Rhino robot; autonomous robot; context-adaptive operation; design principles; dynamic-system perspective; human environments; mobile robots; navigation system; path planning; plan transformation; plan-based high-level control; probabilistic reasoning; probabilistic state estimation; resource-adaptive operation; structured reactive controllers; uncertainty handling; Control system synthesis; Control systems; Dynamic programming; Humans; Process control; Robot control; Robot kinematics; Robot sensing systems; Signal processing; State estimation;
Journal_Title :
Intelligent Systems, IEEE
DOI :
10.1109/MIS.2001.956082
