Concurrent planning and execution for a walking robot
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 300 - 305, April, 1991
Abstract
As part of the planetary Rover project at Carnegie Mellon University, a system that autonomously navigates a legged robot through complex obstacle courses has been developed. The system is integrated using the task control architecture (TCA), which provides communication and coordination facilities. The walking system, as originally implemented, had a sequential sense-plan-act control cycle. Utilizing TCA features for task sequencing and monitoring, the system was modified to concurrently plan and execute steps. Overall walking speed increased significantly, with only a relatively modest conversion effort.
BibTeX
@conference{Simmons-1991-122336,author = {R. Simmons},
title = {Concurrent planning and execution for a walking robot},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1991},
month = {April},
volume = {1},
pages = {300 - 305},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.