RT Conference Proceedings
T1 A General-Purpose Architecture to Control Mobile Robots
A1 Manso, Luis J.
A1 Calderita, Luis Vicente
A1 Bustos, Pablo
A1 García Guzmán, Javier
A1 Martinez Muñoz, Moises
A1 Fernández Rebollo, Fernando
A1 Romero Garcés, Adrián
A1 Bandera, Antonio
AB Complex 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.
PB Universidad de León
SN 978-84-9773-681-7
YR 2014
FD 2014-06
LK https://hdl.handle.net/10016/22032
UL https://hdl.handle.net/10016/22032
LA eng
NO This paper  at: 15th  Workshop of Physical Agent. at took place, June 12 and 13, 2014  in León (Spain)
NO This paper has been partially supportedby the Spanish Ministerio de Economíay Competitividad TIN2012-TIN2012-38079and FEDER funds, and by the InnterconectaProgramme 2011 project ITC-20111030ADAPTA.
DS e-Archivo
RD 17 jul. 2024