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?
Email: jelson@circlemud.org
Home Page: http://www.circlemud.org/~jelson
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