Value-driven behavior generation for an autonomous mobile ground robot

Proceedings of SPIE - The International Society for Optical Engineering

Volumn 4715, Issue , 2002, Pages 332-342

  Balakirsky, Stephen ^a   Lacaze, Alberto ^a  

^a NATIONAL INSTITUTE OF STANDARDS AND TECHNOLOGY   (United States)

Author keywords

4D RCS; Autonomous vehicle; Cost map; Demo III; Graph search; Hierarchical world model; Path planning

Indexed keywords

COMPUTATIONAL METHODS; COST BENEFIT ANALYSIS; MATHEMATICAL MODELS; MOTION PLANNING; UNMANNED VEHICLES;

MOBILE GROUND ROBOTS;

MOBILE ROBOTS;

EID: 0036029045     PISSN: 0277786X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1117/12.474465     Document Type: Conference Paper

References (18)

1. Albus, J.S., "RCS: A Reference Model Architecture for Intelligent Control," Computer, Vol. 25, No. 5, 1992, pp. 56-59.
2. Blum, A.L. and Furst, M.L., "Fast Planning Through Planning Graph Analysis," Artificial Intelligence, Vol. 90, No. 1-2, 1997, pp. 281-300.
3. Branicky, M. and Newman, W., "Rapid Computation of Configuration Obstacles," Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, 1990, pp. 304-310.
4. Brooks, R.A. and Lozano-Pérez, T., "A Subdivision Algorithm In Configuration Space For Findpath With Rotation," Proceedings of the Eighth International Joint Conference on Artificial Intelligence, Vol. 2, 1983, pp. 799-806.
5. Crowley, J.L., "Navigation for an Intelligent Mobile Robot," IEEE Journal of Robotics and Automation, Vol. RA-1, No. 1, 85 A.D., pp. 31-41.
6. Dijkstra, E.W., "A note on two problems in connexion with graphs," Numerische Mathematik, Vol. 1, 1959, pp. 269-271.
7. Grevera, G.J. and Meystel, A., "Searching for an Optimal Path Through Pasadena," Proceedings IEEE International Symposium on Intelligent Control, 1988, pp. 308-319.
8. Haigh, K.Z., Shewchuk, J.R., and Veloso, M.M., "Exploiting Domain Geometry in Analogical Route Planning," Journal of Experimental and Theoretical Artificial Intelligence, Vol. 9, 1997, pp. 509-541.
9. Hoffmann, J. FF: The Fast-Forward Planning System. AI Magazine 22[3], 57-62. 2001. AAAI Press. Ref Type: Magazine Article.
10. Hong, T., Balakirsky, S., Messina, E., Chang, T., and Shneier, M., "A Hierarchical World Model for an Autonomous Scout Vehicle," Proceedings of SPIE's 16th Annual International Symposium on Aerospace/Defense Sensing, Simulation, and Controls, 2002.
11. Hwang, Y.K. and Ahuja, N., "Gross Motion Planning - A Survey," ACM Computing Surveys, Vol. 24, No. 3, 1992, pp. 219-291.
12. Kuipers, B., "The Spatial Semantic Hierarchy," Artificial Intelligence, Vol. 119, No. 1-2, 2000, pp. 191-233.
13. Saab, Y. and VanPutte, M., "Shortest Path Planning on Topographical Maps," IEEE Transactions on Systems Man and Cybernetics, Vol. 29, No. 1, 1999, pp. 139-150.
14. Shoemaker, C. and Bornstein, J.A., "Overview of the Demo III UGV Program," Proceedings of the SPIE Robotic and Semi-Robotic Ground Vehicle Technology Conference, Vol. 3366, 1998, pp. 202-211.
15. Singh, S., Simmons, R., Smith, T., Stentz, A., Verma, V., Yahja, A., and Schwehr, K., "Recent Progress In Local and Global Traversability For Planetary Rovers," Proceedings IEEE International Conference on Robotics and Automation, Vol. 2, 2000, pp. 1194-1200.
16. Thrun, S. and Bücken, A., "Integrating Grid-Based and Topological Maps for Mobile Robot Navigation," Proceedings of the Thirteenth National Conference on Artificial Intelligence, AAAI Press, 1996, pp. 944-951.
17. Wallner, F., Kaiser, M., Friedrich, H., and Dillmann, R., "Integration of Topological and Geometrical Planning in a Learning Mobile Robot," Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems '94, Vol. 1, 1994, pp. 1-8.
18. Yahja, A., Stentz, A., Singh, S., and Brumitt, B.L., "Framed-Quadtree Path Planning for Mobile Robots Operating in Sparse Environments," Proceedings 1998 IEEE International Conference on Robotics and Automation, Vol. 1, 1998, pp. 650-655.