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Abstract: In this paper, we describe a reactive robot architecture that uses fast re-planning methods to avoid the shortcomings of reactive navigation, such as getting stuck in box canyons or in front of small openings. Our robot architecture differs from others in that it gives planning progressively greater control of the robot if reactive navigation continues to fail, until planning controls the robot directly. Our first experiments on a Nomad robot and in simulation demonstrate that our robot... (Update)
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BibTeX entry: (Update)
A. Ranganathan and S. Koenig. A Reactive Robot Architecture with Planning on Demand. In Proceedings of the 2003. http://citeseer.ist.psu.edu/article/ranganathan03reactive.html More
@misc{ ranganathan03reactive,
author = "A. Ranganathan and S. Koenig",
title = "A Reactive Robot Architecture with Planning on Demand",
text = "A. Ranganathan and S. Koenig. A Reactive Robot Architecture with Planning
on Demand. In Proceedings of the 2003.",
year = "2003",
url = "citeseer.ist.psu.edu/article/ranganathan03reactive.html" }
Citations (may not include all citations):891 Strips: A new approach to the application of theorem proving.. (context) - Fikes, Nilsson - 1971
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35 Experiences with an Architecture for Intelligent Reactive Ag.. - Bonasso, Firby et al. - 1997
28 A complete navigation system for goal acquisition in unknown.. - Stentz, Hebert - 1995
15 Avoiding the Past: A Simple but Effective Strategy for React.. - Balch, Arkin - 1993
6 Learning Momentum: Integration and Experimentation (context) - Lee, Arkin - 2001
6 The Focussed D* Algorithm for RealTime Replanning (context) - Stentz - 1995
3 A Generic Framework for Robotic Navigation - Urmson, Simmons et al. - 2003
2 MissionLab: User Manual for MissionLab version 5.0 (context) - Mobile, Laboratory - 2002
1 What are plms (context) - Agre, Chapman - 1990
1 Planning as incrementai adaptation of a reactive system (context) - Lyons, Hendriks - 1995
1 Improved Fast Replmning for Robot Navigation in Unknown Terr.. (context) - Koenig, Likhachev - 2002
1 Robotic Plmetary Exploration by Sun-Synchronous Navigation (context) - Wettergreen, Shamah et al. - 2001
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