Abstract
In recent years different control architectures have been proposed for autonomous robots that are required to carry out service tasks robustly in civilian environments. In this paper a novel architecture is presented, which differs from the typical approaches from two main points of view: it is non hierarchical and it introduces an additional level of representation and reasoning based on image based, iconic descriptions. The paper will show how the proposed architecture has been implemented on a prototypical system, discuss its properties in detail and present our experimental experiences demonstrating the plausibility of the approach.
Cite
CITATION STYLE
Piaggio, M. (1999). HEIR – A non-hierarchical hybrid architecture for intelligent robots. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 1555, pp. 243–259). Springer Verlag. https://doi.org/10.1007/3-540-49057-4_16
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