Real Time Control for Autonomous Mobile Robots

Article type: Research Article

Authors: Burkhard, Hans-Dieter

Affiliations: Institute of Informatics, Humboldt University, Berlin, Germany

Abstract: Control of autonomous mobile robots in dynamical environments is interesting from a cognitive point of view as well as under application view points. Stimulus response controls are often favored for fast reactions to the environment. On the other hand, goals and plans are needed to guide long term behavior by deliberative control. Layered architectures are used for combination, but they inherit advantages as well as problems from both approaches. The paper proposes the Double Pass Architecture with hierarchically structured options/behaviors providing fast reactions on all levels.

Keywords: autonomous robots, agent architectures

Journal: Fundamenta Informaticae, vol. 51, no. 3, pp. 251-270, 2002