2001
DOI: 10.1108/ir.2001.28.3.266.1 View full text |Buy / Rent full text
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Abstract: Describe the difference between iconic and feature-based localization. Be able to update an occupancy grid using either Bayesian, Dempster-Shafer, or HIMM methods. Describe the two types of formal exploration strategies.

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“…It performs behavior-based motions according to motion plans provided by the PA . The task-oriented behaviors are implemented in conjunction with the survival behaviors, such as obstacle avoidance, by coordination of subsumption approach (Murphy, R.R., 2000). This agent is also responsible for robot's high-level perception and localization. Communication Agent (CA):This agent is responsible for interaction with the other robots.…”
Section: Fault-tolerant Control Architecturementioning
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“…It performs behavior-based motions according to motion plans provided by the PA . The task-oriented behaviors are implemented in conjunction with the survival behaviors, such as obstacle avoidance, by coordination of subsumption approach (Murphy, R.R., 2000). This agent is also responsible for robot's high-level perception and localization. Communication Agent (CA):This agent is responsible for interaction with the other robots.…”
Section: Fault-tolerant Control Architecturementioning
“…Besides research on algorithmic solutions to the SLAM problem, large efforts have been made towards the design of architectures for robot control. Preliminary works, based on the SPA (Sense-Plan-Act) paradigm (Murphy, R.R., 2000), conceived the control system for an autonomous mobile robot as composed by functional elements. Afterwards, the research focused on behaviour-based approaches, like Brooks' Subsumption (Brooks, R.A., 1986) and Arkin work (Arkin, R.C., 1998).…”
Section: Related Workmentioning
“…& Sagerer G., 2004), are only a few examples. An introduction to robot specific architecture may be found in (Murphy, R.R., 2000). In general, robot architectures differ in the number of layers, but they share the concept that each layer is a functional module that implements basic skills.…”
Section: Related Workmentioning
“…In high-level control, one of the three major control paradigms, (e.g. hierarchical, reactive and hybrid) are applied to undertake a motion task such as path following, point to point tracking, trajectory tracking, wall following, and obstacle avoidance [14]. The hierarchical control architecture requires a complete world model to plan an action based on sensor data.…”
Section: Introductionmentioning