Summary: Embedded Control of Autonomous Robots
using Procedural Reasoning \Lambda
Fran¸cois F'elix Ingrand Raja Chatila Rachid Alami
7, Avenue du Colonel Roche 31077 Toulouse Cedex France
email: ffelix, raja, rachid, firstname.lastname@example.org
We describe an architecture for action planning
and execution control for mobile robots based on the
use of a planner/supervisor pair that associates de
liberation and reactivity. The supervision component
is based on the Procedural Reasoning System (PRS)
that controls the execution of scripts and plans in
dynamic environments. The robot's actions are ex
ecuted by modules embedding the necessary process
ings for action and perception.
An autonomous robot should be able to antici
pate its future actions to achieve its tasks efficiently.