Title:
Minimalist mobile robotics: a colony-style architecture for an artificial creature
Personal Author:
Series:
Perspectives in artificial intelligence; v.5
Publication Information:
Boston, Mass.: Academic Pr., 1990
ISBN:
9780121852306
Subject Term:
Available:*
Library | Item Barcode | Call Number | Material Type | Item Category 1 | Status |
|---|---|---|---|---|---|
Searching... | 30000002040271 | TJ211.415.C66 1990 | Open Access Book | Book | Searching... |
On Order
Summary
Summary
Rather than using traditional artificial intelligence techniques, which are ineffective when applied to the complexities of real-world robot navigaiton, Connell describes a methodology of reconstructing intelligent robots with distributed, multiagent control systems. After presenting this methodology, hte author describes a complex, robust, and successful application-a mobile robot "can collection machine" which operates in an unmodified offifce environment occupied by moving people.
Table of Contents
| Foreword |
| Preface |
| 1 Introduction |
| 1.1 The Task |
| 1.2 Animal Stories |
| 1.3 Design Principles |
| 1.4 Contributions |
| 1.5 Roadmap |
| 2 Architecture |
| 2.1 What we Use |
| 2.2 The Subsumption Architecture |
| 2.3 The Multiprocessor Implementation |
| 2.4 Related Architectures |
| 3 Manipulation |
| 3.1 Hardware |
| 3.2 Sensors |
| 3.3 Controlling the Hand |
| 3.4 Controlling the Arm Locally |
| 3.5 Controlling the Arm Globally |
| 3.6 Controlling the Base |
| 3.7 Experiments |
| 4 Vision |
| 4.1 Hardware |
| 4.2 Image Processing |
| 4.3 Visual Guidance |
| 4.4 Experiments |
| 5 Navigation |
| 5.1 Sensors |
| 5.2 Tactical Navigation |
| 5.3 Strategic Navigation |
| 5.4 Experiments |
| 6 Discussion |
| 6.1 Spatial Representation |
| 6.2 Distributed Systems |
| 6.3 Limitations |
| 6.4 Extending Arbitration |
| 6.5 Learning |
| 6.6 Conclusion |
| Bibliography |
| Index |
