An Architecture for the Rapid Development of Robot Behaviors
Master's Thesis, Tech. Report, CMU-RI-TR-07-16, Robotics Institute, Carnegie Mellon University, May, 2007
Abstract
We have developed a mobile platform based on the principles of modularity and rapid development for studies robotics. Through behavior-based robot control and a unified sensor/actuator architecture we abstract away the details of communicating with the physical hardware, allowing the behavior writer to focus on and more easily develop higher-level controls. Adding to the capabilities of our robot, we have implemented a localization algorithm based on likelihood fields using a laser. Finally, we demonstrate the utility of the FeatureSet architecture in a multi-modal person following behavior which, in addition to fusing laser and vision data to track people, conditions possible tracks using voice feedback from the user.
BibTeX
@mastersthesis{Stolarz-2007-9738,author = {Jeremy Stolarz},
title = {An Architecture for the Rapid Development of Robot Behaviors},
year = {2007},
month = {May},
school = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-07-16},
}
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