A robust layered control system for a mobile robot

by: R Brooks

Robotics and Automation, IEEE Journal of [legacy, pre - 1988], Vol. 2, No. 1. (1986), pp. 14-23.

View FullText article

IEEE Explore

Reviews [Write a review of this article]

There are no reviews of this article

Find related articles from these CiteULike users

nidhi, ross_singer, haidai, vmo, pverstra, craigtalbert, fdr, CMU_RI_MRRG (group), Robotics (group), macc (group), autonomous-vehicle-liability (group), gvdh

Find related articles with these CiteULike tags

agent, architecture, based, behavior-based, behaviors, control, csci3702, mit, reactive, robot, robotics, robots, software

Abstract

A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust and flexible robot control system. The system has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms. Eventually it is intended to control a robot that wanders the office areas of our laboratory, building maps of its surroundings using an onboard arm to perform simple tasks.

@article{citeulike:92374, abstract = {A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust and flexible robot control system. The system has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms. Eventually it is intended to control a robot that wanders the office areas of our laboratory, building maps of its surroundings using an onboard arm to perform simple tasks.}, author = {Brooks, R. }, citeulike-article-id = {92374}, journal = {Robotics and Automation, IEEE Journal of [legacy, pre - 1988]}, keywords = {based, behaviors, reactive, robotics}, number = {1}, pages = {14--23}, posted-at = {2005-11-03 18:22:47}, priority = {0}, title = {A robust layered control system for a mobile robot}, url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=1087032}, volume = {2}, year = {1986} }

RIS record

TY - JOUR ID - citeulike:92374 L3 - citeulike-article-id:92374 TI - A robust layered control system for a mobile robot JF - Robotics and Automation, IEEE Journal of [legacy, pre - 1988] VL - 2 IS - 1 SP - 14 EP - 23 N2 - A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust and flexible robot control system. The system has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms. Eventually it is intended to control a robot that wanders the office areas of our laboratory, building maps of its surroundings using an onboard arm to perform simple tasks. KW - based KW - behaviors KW - reactive KW - robotics AU - Brooks, R PY - 1986/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1087032 ER -

RIS BibTeX