Abstract
One of the elementary tasks of an autonomous mobile robot is the execution of different behavior patterns in order to fulfill a given task. The complexity of this problem is especially high if the robot operates in a dynamic, unpredictable environment and requires the parallel control of multiple actuators. In this paper we present a novel architecture for robust and fast mobile robot control. The architecture is based on Teleo-Reactive Programs. We discuss the benefits and drawbacks of such programs, extend the basic definition for the parallel control of multiple actuators, and propose a new language and a compiler for extended Teleo-Reactive Programs. These tools simplify the creation of new behavior patterns and increase the runtime performance. Finally, we discuss implementation issues of the architecture when applying it to RoboCup Middle-Size soccer robots.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Nilsson, N.J.: Teleo-reactive programs for agent control. JAIR 1, 139–158 (1994)
Nilsson, N.J.: Toward agent programs with circuit semantics. Technical Report STAN-CS-92-1412, Standford University (January 1992)
Tews, A., Wyeth, G.: Thinking as one: Coordination of multiple mobile robots by shared representations. In: IROS, pp. 1391–1396 (2000)
Brooks, R.A.: A robust layered control system for a mobile robot. IEEE Jornal of Robotics and Automation RA-2(1), 14–23 (1986)
Utz, H.: Advanced Software Concepts and Technologies for Autonomous Mobile Robotics. PhD thesis, University of Ulm, Neuroinformatics (2005)
Fraser, G., Steinbauer, G., Wotawa, F.: Plan execution in dynamic environments. In: 18th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, Bari, Italy, pp. 208–217. Springer, Heidelberg (2005)
Beetz, M.: Plan-Based Control of Robotics Agents, Improving the Capabilities of Autonomous Robots. LNCS (LNAI), vol. 2554. Springer, Heidelberg (2002)
Nilsson, N.J.: Teleo-reactive programs and the triple-tower architecture. Electronic Transactions on Artificial Intelligence 5, 99–110 (2001)
Simmons, R., Apfelbaum, D.: A task description language for robot control. In: Conference on Intelligent Robotics and Systems, pp. 1931–1937 (1998)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Gubisch, G., Steinbauer, G., Weiglhofer, M., Wotawa, F. (2008). A Teleo-Reactive Architecture for Fast, Reactive and Robust Control of Mobile Robots. In: Nguyen, N.T., Borzemski, L., Grzech, A., Ali, M. (eds) New Frontiers in Applied Artificial Intelligence. IEA/AIE 2008. Lecture Notes in Computer Science(), vol 5027. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69052-8_57
Download citation
DOI: https://doi.org/10.1007/978-3-540-69052-8_57
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69045-0
Online ISBN: 978-3-540-69052-8
eBook Packages: Computer ScienceComputer Science (R0)