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9 January 1995 Architecture for reactive planning of robot actions
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Proceedings Volume 2352, Mobile Robots IX; (1995)
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States
In this article, a reactive system for planning robot actions is described. The described hierarchical control system architecture consists of planning-executing-monitoring-modelling elements (PEMM elements). A PEMM element is a goal-oriented, combined processing and data element. It includes a planner, an executor, a monitor, a modeler, and a local model. The elements form a tree-like structure. An element receives tasks from its ancestor and sends subtasks to its descendants. The model knowledge is distributed into the local models, which are connected to each other. The elements can be synchronized. The PEMM architecture is strictly hierarchical. It integrated planning, sensing, and modelling into a single framework. A PEMM-based control system is reactive, as it can cope with asynchronous events and operate under time constraints. The control system is intended to be used primarily to control mobile robots and robot manipulators in dynamic and partially unknown environments. It is suitable especially for applications consisting of physically separated devices and computing resources.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jukka P. Riekki and Juha Roening "Architecture for reactive planning of robot actions", Proc. SPIE 2352, Mobile Robots IX, (9 January 1995);


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