Control of autonomous mobile robots with automated planning
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Campo DC | Valor | Idioma |
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dc.contributor.author | Quintero Barrios, Ezequiel | - |
dc.contributor.author | García Olaya, Ángel | - |
dc.contributor.author | Borrajo Millán, Daniel | - |
dc.contributor.author | Fernández Rebollo, Fernando | - |
dc.date.accessioned | 2011-03-15T13:12:25Z | - |
dc.date.available | 2011-03-15T13:12:25Z | - |
dc.date.issued | 2011-01 | - |
dc.identifier.citation | QUINTERO BARRIOS, Ezequiel, et al. “Control of autonomous mobile robots with automated planning”. Journal of Physical Agents. Vol. 5, No. 1 (Jan. 2011). ISSN 1888-0258, pp. 3-13 | en |
dc.identifier.issn | 1888-0258 | - |
dc.identifier.uri | http://hdl.handle.net/10045/16643 | - |
dc.identifier.uri | http://dx.doi.org/10.14198/JoPha.2011.5.1.02 | - |
dc.description.abstract | In this paper we present an approach for the control of autonomous robots, based on Automated Planning (AP) techniques, where a control architecture was developed (ROPEM: RObot Plan Execution with Monitoring). The proposed architecture is composed of a set of modules that integrates deliberation with a standard planner, execution, monitoring and replanning. We avoid robotic-device and platform dependency by using a low level control layer, implemented in the Player framework, separated from the high level task execution that depends on the domain we are working on; that way we also ensure reusability of the high and low level layers. As robot task execution is non-deterministic, we can not predict the result of performing a given action and for that reason we also use a module that supervises the execution and detects when we have reached the goals or an unexpected state. Separated from the execution, we included a planning module in charge of determining the actions that will let the robot achieve its high level goals. In order to test the performance of our contribution we conducted a set of experiments on the International Planning Competition (IPC) domain Rovers, with a real robot (Pioneer P3DX). We tested the planning/replanning capabilities of the ROPEM architecture with different controlled sources of uncertainty. | en |
dc.description.sponsorship | This work has been partially supported by the Spanish MICINN under projects TIN2008-06701-C03-03, TRA-2009-008 and Comunidad de Madrid - UC3M (CCG10-UC3M/TIC-5597). | en |
dc.language | eng | en |
dc.publisher | Red de Agentes Físicos | en |
dc.subject | Automated planning | en |
dc.subject | Autonomous robots | en |
dc.subject | Robotic architectures | en |
dc.subject | Mobile robots | en |
dc.subject.other | Ciencia de la Computación e Inteligencia Artificial | en |
dc.title | Control of autonomous mobile robots with automated planning | en |
dc.type | info:eu-repo/semantics/article | en |
dc.peerreviewed | si | en |
dc.identifier.doi | 10.14198/JoPha.2011.5.1.02 | - |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | en |
Aparece en las colecciones: | Journal of Physical Agents - 2011, Vol. 5, No. 1 |
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