Using a blackboard to integrate multiple activities and achieve strategic reasoning for mobile-robot navigation

Liscano, Ramiro; Manz, Allan; Stuck, Elizabeth R.; Fayek, R.E.; Tigli, Jean‐Yves

doi:10.1109/64.395354

Cited by 32 publications

(5 citation statements)

References 14 publications

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“…1 The fundamental idea is similar to the "blackboard" system, which was actively reported 1 The SSM is open source and can be downloaded from http://sourceforge.jp/projects/pc-ymbc/. Documentation is being gradually translated into English (PC-Yamabico, 2008). in the 1980s and 1990s (Liscano, Fayek, Manz, Stuck, & Tigli, 1995). The SSM is mainly composed of three parts ( Figure 5):…”

Section: Use Of Ssmmentioning

confidence: 99%

Autonomous robot navigation in outdoor cluttered pedestrian walkways

Morales

Carballo

Takeuchi

et al. 2009

Journal of Field Robotics

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This paper describes an implementation of a mobile robot system for autonomous navigation in outdoor concurred walkways. The task was to navigate through nonmodified pedestrian paths with people and bicycles passing by. The robot has multiple redundant sensors, which include wheel encoders, an inertial measurement unit, a differential global positioning system, and four laser scanner sensors. All the computation was done on a single laptop computer. A previously constructed map containing waypoints and landmarks for position correction is given to the robot. The robot system's perception, road extraction, and motion planning are detailed. The system was used and tested in a 1-km autonomous robot navigation challenge held in the City of Tsukuba, Japan, named "Tsukuba Challenge 2007." The proposed approach proved to be robust for outdoor navigation in cluttered and crowded walkways, first on campus paths and then running the challenge course multiple times between trials and the challenge final. The paper reports experimental results and overall performance of the system. Finally the lessons learned are discussed. The main contribution of this work is the report of a system integration approach for autonomous outdoor navigation and its evaluation. C 2009 Wiley Periodicals, Inc.

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Section: Use Of Ssmmentioning

confidence: 99%

Autonomous robot navigation in outdoor cluttered pedestrian walkways

Morales

Carballo

Takeuchi

et al. 2009

Journal of Field Robotics

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“…5 Since then, many other architectures have been proposed. Liscano et al 6 use an activity-based blackboard consisting of two hierarchical layers for strategic and reactive reasoning. A blackboard database keeps track of the state of the world and a set of activities to perform the navigation.…”

Section: Related Workmentioning

confidence: 99%

Evolving a multiagent system for landmark-based robot navigation

Ambastha

Busquets

Mántaras

et al. 2005

Int. J. Intell. Syst.

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“…Indeed, several alternative strategies have been proposed, e.g. Liscano et al (1995), Garvey and Lesser (1993). It is therefore possible to develop a suitable scheduling theory for real-time intelligent systems and to integrate this into the software architecture.…”

Section: The Software Architecturementioning

confidence: 99%

A blackboard software architecture for integrated intelligent control systems

Abbod

Linkens²,

Browne³

et al. 2000

Kybernetes

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This paper describes a software architecture which supports the design of hierarchical controllers that provide facilities for adaptation, supervision and task planning. It details how this form of functional hierarchy differs from the structural hierarchy also inherent within a complex control system. Then, both forms of hierarchy are combined in a single design notation and development methodology. The system utilises intelligent control techniques (neuro-fuzzy and genetic optimisation) for controlling a cryogenic plant used for superconductor testing by cooling the test samples to temperatures below 1008K. The system supports the design of a hierarchical controller that provides facilities for adaptation, supervision and task planning. Simulation results are presented.

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Using a blackboard to integrate multiple activities and achieve strategic reasoning for mobile-robot navigation

Cited by 32 publications

References 14 publications

Autonomous robot navigation in outdoor cluttered pedestrian walkways

Autonomous robot navigation in outdoor cluttered pedestrian walkways

Evolving a multiagent system for landmark-based robot navigation

A blackboard software architecture for integrated intelligent control systems

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