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Full-Text Articles in Physical Sciences and Mathematics
Dynamic Behavior Sequencing For Hybrid Robot Architectures, Gilbert L. Peterson, Jeffrey P. Duffy, Daylond J. Hooper
Dynamic Behavior Sequencing For Hybrid Robot Architectures, Gilbert L. Peterson, Jeffrey P. Duffy, Daylond J. Hooper
Faculty Publications
Hybrid robot control architectures separate planning, coordination, and sensing and acting into separate processing layers to provide autonomous robots both deliberative and reactive functionality. This approach results in systems that perform well in goal-oriented and dynamic environments. Often, the interfaces and intents of each functional layer are tightly coupled and hand coded so any system change requires several changes in the other layers. This work presents the dynamic behavior hierarchy generation (DBHG) algorithm, which uses an abstract behavior representation to automatically build a behavior hierarchy for meeting a task goal. The generation of the behavior hierarchy occurs without knowledge of …
Improving Occupancy Grid Fastslam By Integrating Navigation Sensors, Christopher Weyers, Gilbert L. Peterson
Improving Occupancy Grid Fastslam By Integrating Navigation Sensors, Christopher Weyers, Gilbert L. Peterson
Faculty Publications
When an autonomous vehicle operates in an unknown environment, it must remember the locations of environmental objects and use those object to maintain an accurate location of itself. This vehicle is faced with Simultaneous Localization and Mapping (SLAM), a circularly defined robotics problem of map building with no prior knowledge. The SLAM problem is a difficult but critical component of autonomous vehicle exploration with applications to search and rescue missions. This paper presents the first SLAM solution combining stereo cameras, inertial measurements, and vehicle odometry into a Multiple Integrated Navigation Sensor (MINS) path. The FastSLAM algorithm, modified to make use …
Real-Time Behavior-Based Robot Control, Brian G. Wooley, Gilbert L. Peterson, Jared T. Kresge
Real-Time Behavior-Based Robot Control, Brian G. Wooley, Gilbert L. Peterson, Jared T. Kresge
Faculty Publications
Behavior-based systems form the basis of autonomous control for many robots, but there is a need to ensure these systems respond in a timely manner. Unexpected latency can adversely affect the quality of an autonomous system’s operations, which in turn can affect lives and property in the real-world. A robots ability to detect and handle external events is paramount to providing safe and dependable operation. This paper presents a concurrent version of a behavior-based system called the Real-Time Unified Behavior Framework, which establishes a responsive basis of behavior-based control that does not bind the system developer to any single behavior …