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A General-Purpose Architecture to Control Mobile Robots

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dc.affiliation.dptoUC3M. Departamento de Informáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Planificación y Aprendizajees
dc.contributor.authorManso, Luis J.
dc.contributor.authorCalderita, Luis Vicente
dc.contributor.authorBustos, Pablo
dc.contributor.authorGarcía Guzmán, Javier
dc.contributor.authorMartinez Muñoz, Moises
dc.contributor.authorFernández Rebollo, Fernando
dc.contributor.authorRomero Garcés, Adrián
dc.contributor.authorBandera, Antonio
dc.date.accessioned2015-11-19T08:21:49Z
dc.date.available2015-11-19T08:21:49Z
dc.date.issued2014-06
dc.descriptionThis paper at: 15th Workshop of Physical Agent. at took place, June 12 and 13, 2014 in León (Spain)en
dc.description.abstractComplex robotic tasks require the coordination of a considerable amount of skills. This is generally achieved generating and executing action plans that fulfill the preconditions of the given objective. These tasks can be highly dynamic, since the appearance of new objects or unexpected situations is a constant during the plan execution. In this context, robot control systems require the capability of managing a suitable world model (creating, removing or retyping dynamically objects as a result of the plan execution), and the capability of monitoring and replanning when unexpected situations are detected. In this paper we introduce a general-purpose architecture for autonomous mobile robots providing these features. The architecture allows to generate planning applications since it integrates planning, re-planning, monitoring and learning capabilities, and, at the same time, manages a consistent graph-like world model. Finally, we present some preliminary results of the deployment of such architecture in an advertisement promoting robot domain.en
dc.description.sponsorshipThis paper has been partially supported by the Spanish Ministerio de Economía y Competitividad TIN2012-TIN2012-38079 and FEDER funds, and by the Innterconecta Programme 2011 project ITC-20111030 ADAPTA.en
dc.description.statusPublicado
dc.format.extent12es
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationFernandez Rebollo, Fernando; Garcia Guzman, Javier; Martinez Muñoz, Moises; Manso, Luis J.; Calderita, Luis; Bustos, Pablo; Romero Garcés, Adrián, Bandera Antonio (2014). A General-Purpose Architecture to Control Mobile Robots. XV Workshop of physical agents: book of proceedings, WAF 2014, June 12th and 13th, 2014 León, Universidad de León. Pp. 105-116es
dc.identifier.isbn978-84-9773-681-7
dc.identifier.publicationfirstpage105
dc.identifier.publicationlastpage116
dc.identifier.publicationtitleXV Workshop of physical agents: book of proceedings, WAF 2014, June 12 and 13, 2014 Leónen
dc.identifier.urihttps://hdl.handle.net/10016/22032
dc.identifier.uxxiCC/0000023613
dc.language.isoengen
dc.publisherUniversidad de Leónes
dc.relation.eventdate2014 June, 12-13en
dc.relation.eventnumber15
dc.relation.eventplaceLeón (Spain)en
dc.relation.eventtitle15Th Workshop of Physical Agenten
dc.relation.projectIDGobierno de España.TIN2012-38079-C03-02es
dc.rights© 2014-2015 Robotics Group. University of Leónen
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accesses
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaInformáticaes
dc.subject.ecienciaIngeniería Industriales
dc.subject.othercognitive architecturesen
dc.subject.otherautonomous robotsen
dc.subject.otherplanningen
dc.titleA General-Purpose Architecture to Control Mobile Robotsen
dc.typeconference paper*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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