Palomino, Antonio JesúsGarcía Olaya, ÁngelFernández Rebollo, FernandoBandera, Juan Pedro2015-11-192015-11-192013-092013 European Conference on Mobile Robots. Pp. 268-273978-1-4799-0263-7https://hdl.handle.net/10016/22033The proceeding at: 6th European Conference on Mobile Robots.Took place in September 25-27, 2013, in Barcelona, Spain.Artificial vision systems can not process all the information that they receive from the world in real time because it is highly expensive and inefficient in terms of computational cost. However, inspired by biological perception systems, it is possible to develop an artificial attention model able to select only the relevant part of the scene, as human vision does. From the Automated Planning point of view, a relevant area can be seen as an area where the objects involved in the execution of a plan are located. Thus, the planning system should guide the attention model to track relevant objects. But, at the same time, the perceived objects may constrain or provide new information that could suggest the modification of a current plan. Therefore, a plan that is being executed should be adapted or recomputed taking into account actual information perceived from the world. In this work, we introduce an architecture that creates a symbiosis between the planning and the attention modules of a robotic system, linking visual features with high level behaviours. The architecture is based on the interaction of an oversubscription planner, that produces plans constrained by the information perceived from the vision system, and an object-based attention system, able to focus on the relevant objects of the plan being executed.6application/pdfeng©2013 IEEEIntelligent robotsMobile robotsObject trackingpathRobot visionColorComputational modelingComputer architectureImage color analysisPlanningRobotsVisualizationconference paperInformáticaIngeniería Industrial10.1109/ECMR.2013.6698853open access2682732013 European Conference on Mobile RobotsCC/0000023330