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

fYear

2001

fDate

2001

Firstpage

523

Lastpage

529

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on

Print_ISBN

0-7803-7203-4

Type

conf

DOI

10.1109/CIRA.2001.1013256

Filename

1013256