Enhancing the reactive capabilities of integrated planning and control with cooperative extended Kohonen maps

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 3428-3433

  Low, Kian Hsiang ^a   Leow, Wee Kheng ^a   Ang Jr , Marcelo H ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; CONTROL SYSTEM SYNTHESIS; MOTION CONTROL; MOTION PLANNING; SELF ORGANIZING MAPS;

COOPERATIVE EXTENDED KOHONEN MAPS; INTEGRATED PLANNING AND CONTROL; REACTIVE CONTROL;

MOBILE ROBOTS;

EID: 0344896739     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. R.C. Arkin. Motor schema based mobile robot navigation: An approach to programming by behavior. In Proc. ICRA, pages 264-271, 1987.
2. R. C. Arkin and T. Balch. AuRA: Principles and practices in review. J. Experimental and Theoretical AI, 9(2-3):175-189, 1997.
3. J. Borenstein and Y. Koren. The vector field histogram: Fast obstacle avoidance for mobile robots. IEEE Trans. Robot. Automat., 7(3):278-288, 1991.
4. V. Braitenberg. Vehicles: Experiments in Synthetic Psychology. MIT Press, Cambridge, MA, 1984.
5. O. Brock and O. Khatib. Executing motion plans for robots with many degrees of freedom in dynamic environments. In Proc. ICRA, volume 1, pages 1-6, 1998.
6. O. Brock and O. Khatib. High-speed navigation using the global dynamic window approach. In Proc. ICRA, volume 1, pages 341-346, 1999.
7. R. Brooks. A robust layered control system for a mobile robot. IEEE J. Robot. Automat., 2(1):14-23, 1986.
8. O. Khatib. Real-time obstacle avoidance for manipulators and mobile robots. In Proc. ICRA, pages 500-505, 1985.
9. O. Khatib, S. Quinlan, and D. Williams. Robot planning and control. Robotics and Autonomous Systems, 21:249-261, 1997.
10. Y. Koren and J. Borenstein. Potential field methods and their inherent limitations for mobile robot navigation. In Proc. ICRA, pages 1394-1404, 1991.
11. K.H. Low, W.K. Leow, and M.H. Ang Jr. Integrated planning and control of mobile robot with self-organizing neural network. In Proc. ICRA, volume 4, pages 3870-3875, 2002.
12. P. Pirjanian. Multiple objective behavior-based control. Robotics and Autonomous Systems, 31(1-2):53-60, 2000.
13. S. Quinlan and O. Khatib. Towards real-time execution of motion tasks. In R. Chatila and G. Hirzinger, editors, Experimental Robotics 2. Springer-Verlag, 1993.
14. J. Riekki and J. Röning. Reactive task execution by combining action maps. In Proc. IROS, volume 1, pages 224-230, 1997.
15. J. K. Rosenblatt. DAMN: A distributed architecture for mobile navigation. J. Experimental and Theoretical AI, 9(2-3):339-360, 1997.
16. A. Saffiotti, K. Konolige, and E. Ruspini. A multi-valued logic approach to integrating planning and control. Artificial Intelligence, 76(1-2):481-526, 1995.
17. C. Touzet. Neural reinforcement learning for behavior synthesis. Robotics and Autonomous Systems, 22(3-4):251-281, 1997.