Concurrent planning and execution for autonomous robots - Robotics Institute Carnegie Mellon University

Concurrent planning and execution for autonomous robots

R. G. Simmons
Magazine Article, IEEE Control Systems Magazine, Vol. 12, No. 1, pp. 46 - 50, February, 1992

Abstract

The task control architecture (TCA) provides communication and coordination facilities to construct distributed, concurrent robotic systems. The use of TCA in a system that walks a legged robot through rugged terrain is described. 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. Walking speed improved by over 30%, with only a relatively modest conversion effort.

BibTeX

@periodical{Simmons-1992-122334,
author = {R. G. Simmons},
title = {Concurrent planning and execution for autonomous robots},
journal = {IEEE Control Systems Magazine},
year = {1992},
month = {February},
pages = {46 - 50},
volume = {12},
}
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