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Embedded Control of Autonomous Robots using Procedural Reasoning \Lambda

Summary: Embedded Control of Autonomous Robots
using Procedural Reasoning \Lambda
Fran¸cois F'elix Ingrand Raja Chatila Rachid Alami
Fr'ed'eric Robert
7, Avenue du Colonel Roche 31077 Toulouse Cedex ­ France
e­mail: ffelix, raja, rachid, frg@laas.fr
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.
1 Introduction
An autonomous robot should be able to antici­
pate its future actions to achieve its tasks efficiently.


Source: Alami, Rachid - Laboratoire d'Analyse et d'Architecture des Systèmes du CNRS


Collections: Engineering; Computer Technologies and Information Sciences