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A Modular, Hierarchical, Reconfigurable Controller for Autonomous Robots

D. Remondini and A. Saffiotti

Abstract
Behavior-based systems are one of the most popular paradigms for building controllers. Although this paradigm is intrinsically tied to the notion of modular design, most existing behavior-based controllers do not fully satisfy the important desiderata of modularity, hierarchical structure, and reconfigurability. In this paper we discuss these desiderata, and we describe a fuzzy controller that satisfies them. To illustrate the functioning of our controller, we show experiments run on both a simulator and a real robot.
Citation
D. Remondini and A. Saffiotti. A Modular, Hierarchical, Reconfigurable Controller for Autonomous Robots. Proc. of the IEEE Int. Conf. on Methods and Models in Automation and Robotics (MMAR) 585-590. Miedzyzdroje, Poland, 2006.
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Email Denis Remondini
Email Alessandro Saffiotti
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