ViRbot: A system for the operation of mobile robots
Por:
Savage J., Llarena A., Carrera G., Cuellar S., Esparza D., Minami Y., Peñuelas U.
Publicada:
1 ene 2008
Resumen:
This paper describes a robotics architecture, the ViRbot, used to control the operation of service mobile robots. It accomplish the required commands using AI actions planning and reactive behaviors with a description of the working environment. In the ViRbot architecture the actions planner module uses Conceptual Dependency (CD) primitives as the base for representing the problem domain. After a command is spoken to the mobile robot a CD representation of it is generated, a rule based system takes this CD representation, and using the state of the environment generates other subtasks represented by CDs to accomplish the command. By using a good representation of the problem domain through CDs and a rule based system as an inference engine, the operation of the robot becomes a more tractable problem and easier to implement. The ViRbot system was tested in the Robocup@Home [1] category in the Robocup competition at Bremen, Germany in 2006 and in Atlanta in 2007, where our robot TPR8, obtained the third place in this category. © 2008 Springer-Verlag Berlin Heidelberg.
Filiaciones:
Savage J.:
Bio-Robotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autónoma de México, Unam, Mexico
Llarena A.:
Bio-Robotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autónoma de México, Unam, Mexico
Carrera G.:
Bio-Robotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autónoma de México, Unam, Mexico
Cuellar S.:
Bio-Robotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autónoma de México, Unam, Mexico
Esparza D.:
Bio-Robotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autónoma de México, Unam, Mexico
Minami Y.:
Bio-Robotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autónoma de México, Unam, Mexico
Peñuelas U.:
Bio-Robotics Laboratory, Department of Electrical Engineering, Universidad Nacional Autónoma de México, Unam, Mexico
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