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Author(s): Eugénio Oliveira
Maria C. Neves
Title: A control architecture for an autonomous mobile robot
Issue Date: 1997
Abstract: In this work we propose a behaviour-based architecture, which can also be seen as a multi-agent architecture, to control a situated embodied autonomous mobile robot, under a close sensing action relationship. Pre-existing knowledge can play a meta-level role, being used in order to provide an adviser capability which is combined with the basic reactive feature of the robot. One of the challenges of the behaviour-based approach is the integration and coordination of multiple different behaviours. This problem was faced using combination operators applied to lower level behaviours and producing useful and coherent higher level behaviours. Our autonomous mobile robot also exhibits learning capabilities, namely the ability to learn new behaviours in an autonomous way. In this context it was designed to the elementary behaviours a connectionist architecture that encompasses the capabilities of building specific basic competences. Through the exploration of the proposed control architecture a mobile platform has become an useful autonomous mobile robot. It is able to deal with dynamic environments, evolving in a coherent, relevant and adequate way according to both the current situation as well as with its assigned missions.
Subject: Cibernética, Engenharia de controlo, Engenharia electrotécnica, electrónica e informática
Cybernetics, Control engineering, Electrical engineering, Electronic engineering, Information engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
Source: First International Conference on Autonomous Agents
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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