Mobile Robot Control Architectures

September 29, 1999

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Table of Contents

Mobile Robot Control Architectures

mobile robot controllers

a typical robot

sense - plan - act

robots have many goals

slicing the problem: spa

problems with spa (sense-plan-act)

new architecture: subsumption

slicing the problem: subsumption

subsumption details

subsumption advantages (according to brooks)

subsumption successes

...and failures?

three-layer architectures

the role of state

the three-layer architecture

what is subsumption?

Author: Jeremy Elson


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