Abstract
This article presents a constraint-based behavioural architecture for low-level safe navigation, the Survival Kit. Instead of approaching the problem by customising a generic Behaviour-Based architecture, the Survival Kit embodies a dedicated semantics for safe navigation, which augments its expressiveness for the task. An instantiation of the architecture for goal-oriented obstacle avoidance in unstructured indoor environments is proposed. Special attention is given to an environmental feature, the gap, which allows to optimise paths based on immediate ranging data. Experimental results in simulation confirm the capabilities of the approach.
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© 2005 Springer-Verlag Berlin Heidelberg
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Santana, P., Correia, L. (2005). Survival Kit: A Constraint-Based Behavioural Architecture for Robot Navigation. In: Bento, C., Cardoso, A., Dias, G. (eds) Progress in Artificial Intelligence. EPIA 2005. Lecture Notes in Computer Science(), vol 3808. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11595014_43
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DOI: https://doi.org/10.1007/11595014_43
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-30737-2
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