G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In M. Brady and R. Paul, editors, First International Symposium on Robotics Research, pages 191--214, Cambridge MA, 1984. MIT Press.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....mobile agents, perception and action in agents, performance, self organizing systems 1. INTRODUCTION received much attention in the past two decades. Two basic approaches have emerged from these research e#orts: deliberative vs. reactive. The top down deliberative (plannerbased) approach [9, 15, 24, 27] uses a global world model to generate the most appropriate sequence of actions for the agent to reach a specified goal. By performing deliberate planning, this approach can generate optimal sequences in a static complex environment. Since the planning process typically takes some time to execute, ....

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multi-sensory mobile robots. In Proc. 1st International Symposium on Robotics Research, pages 191--214, 1984.

....revolution [70] it should be possible to look at the trajectory and tendencies of any given research program, and come to some sort of tentative assessment of its promise. Thus does Brooks approach work in AI and robotics. Surveying some early work, e.g. Skakey [87] CART [84] and Hilare [47], he comments: All of these systems used offboard computers . and operated in mostly static environments. All of these robots operated in environments that at least to some degree had been specially engineered for them. They all sensed the world and tried to build two or three dimensional world ....

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory robots. In Brady and Paul, editors, Robotics Research 1, pages 191-214. Cambridge, MA: MIT Press, 1984. 42

....and vehicle speed. Although several mobile robot systems have been built in the past, they did not address driving control scheme very deeply. Stop and go motion, although it does incorporate all of the primitive processing steps, deliberately avoids the problem of continuous motion control [2, 4, 7, 10]. Waxman et al. mentioned the necessity for vehicle speed adjustment using knowledge, but didn t show any method for doing so [11] Brooks developed a layered control structure that drives a vehicle continuously [1] However, it does not have the ability to adapt the control to meet the changing ....

Georges Giralt, Raja Chatils, and Marc Vaisset. An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots. In The First International Symposium on Robotics Research, pages 191-214.

....mobile agents, perception and action in agents, performance, self organizing systems 1. INTRODUCTION received much attention in the past two decades. Two basic approaches have emerged from these research e orts: deliberative vs. reactive. The top down deliberative (plannerbased) approach [9, 15, 24, 28] uses a global world model to generate the most appropriate sequence of actions for the agent to reach a speci ed goal. By performing deliberate planning, this approach can generate optimal sequences in a static complex environment. Since the planning process typically takes some time to execute, ....

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multi-sensory mobile robots. In Proc. 1st Int. Symp. on Robotics Research, 1983.

....require an intermediary, whose design is typically the greatest challenge of hybrid systems. As a result, these are called three layer systems , consisting of the reactive, intermediate, and deliberative 5 layers. A great deal of research has been aimed at proper design of such hybrid systems (Giralt, Chatila Vaisset 1983, Firby 1987, Arkin 1989, Malcolm Smithers 1990, Connell 1991, Gat 1998) and they are particularly popular for single robot control. Think the way you act. Behavior based control draws inspiration from biology for its design of situated, embodied systems. Behavior based systems (BBS) get ....

Giralt, G., Chatila, R. & Vaisset, M. (1983), An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots, in M. Brady & R. Paul, eds, `First International Symposium on Robotics Research', MIT Press, Cambridge, MA, pp. 191--214.

....fixed node sensor networks. 1.5.2 Distributed Robotics The two key alternatives to the behavior based approach we propose to use for robot control are planner based and reactive systems. Planner based top down strategies typically rely on a centralized world model for interacting with the world (Giralt, Chatila Vaisset 1983, Chatila Laumond 1985, Moravec Cho 1989, Laird Rosenbloom 1990) These approaches allow for explicitly formulating the task and goals of the system, and estimating the quality of the agent s performance. However, uncertainty in sensing and action, and changes in the environment require ....

Giralt, G., Chatila, R. & Vaisset, M. (1983), An integrated navigation and motion control system for autonomous multisensory mobile robots, in M. Brady & R. Paul, eds, `First International Symposium on Robotics Research', MIT Press, Cambridge, MA, pp. 191--214.

....of DARPA [1] 17] 19] The main subject of this paper is the problem of controlling multiple mobile robots in a distributed manner. Controlling a single robot, including navigation and motion planning, has been one of the central issues of mobile robot research (see, for example, 10] 11] [15] [20] 23] 27] 28] 36] 46] Although some investigations on the problem of controlling multiple mobile robots have been started (see, for example, 12] 13] 14] 16] 18] 24] 26] 35] 38] 43] 44] 47] our knowledge on how the motion of many mobile robots can be coordinated efficiently ....

G. Giralt, R. Chatila and M. Vaisset, "An integrated navigation and motion control system for autonomous multisensory mobile robots," in First Int. Symp. on Robotics Research, M. Brady and R. Paul, Eds., 1983, The MIT Press.

....resulting in an overall improvement in operation through high level mediation and intervention. 3.3. 3 Planner Based Strategies Planner based strategies employ a centralized world model for sensory information, verification, and action generation (e.g. Chatila and Laumond [39] Giralt et al. [68], and Moravec and Cho [115] The biggest difference between planner based strategies and other strategies is that a planner uses information in the world model to generate a sequence of actions, a complete plan (e.g. Nilsson [121] as opposed to the generation of a single action such as a ....

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In M. Brady and R. Paul, editors, First International Symposium on Robotics Research, pages 191--214. MIT Press, Cambridge, MA, 1984.

....smaller CMU Rover [Moravec, 1983] indoor platform. CMU became a major leader in mobile robot research during the 1980s, with its Navlab vehicle as the focus for much of the work [Thorpe, 1990] A number of other research oriented mobile robot development efforts (e.g. the French HILARE project [Giralt, 1983]) that were undertaken in the late 1970s and early 1980s are described in [Klafter, 1988] various application focused developments are described in appropriate sections below. DARPA AUTONOMOUS LAND VEHICLE (ALV) The ARPA sponsored development thread of mobile robots as an application domain for ....

Giralt, G, Chatila, R. and Vaisset M. "An Integrated Navigation and Motion Control System for Autononous Multisensory Mobile Robots", Proceedings of the First International Symposium of Robotics Research, 1983.

....within a modular architecture (Section II) to perform experiments in an indoor environment with a real robot. II. Hilare and its trailer Our experimental platform is Hilare 2 bis. It is a two driving wheel mobile robot belonging to the family of mobile robot Hilare growing at LAAS since 1976 [17]. In the following experimentation we use proprioceptive sensors: the odometer (based on optical encoders on dedicated wheels) gives the position (x r ; y r ) and the direction r of the robot w.r.t. a starting configuration; an angular encoder gives the relative direction of the trailer w.r.t. ....

G. Giralt, R. Chatila, and M. Vaisset, "An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots", Robotics Research : The First International Symposium (M. Brady and R. P. Paul, eds.), MIT Press, pp. 191--214, 1984.

....tracking problem (including both forward and backward motions) to trajectory tracking for a virtual robot moving always forward (Section 4) The experimental results are presented in Section 5. 2 Hilare and its trailer Hilare is a family of mobile robots whose grandfather was born in 1976 [3]. The robot concerned by this experimentation is Hilare 2 bis and its trailer. Hilare 2 bis is a two driving wheels mobile robot equipped with exteroceptive sensors (laser and ultrasonic range finders, cameras) In the following experimentation we only use proprioceptive sensors: the The author ....

G. Giralt, R. Chatila, and M. Vaisset, "An integrated navigation and motion control system for autonomous multisensory mobile robots," in Robotics Research : The First International Symposium (M. Brady and R. P. Paul, eds.), MIT Press, pp. 191--214, 1984.

....and applicability to multi agent domains. 2.4. 1 Individual Agent Control At one extreme of the agent control spectrum lie traditional top down planner based, deliberative strategies that use a centralized world model for verifying sensory information and generating actions in the world (Giralt, Chatila Vaisset 1983, Chatila Laumond 1985, Moravec Cho 1989, Laird Rosenbloom 1990) The information in the world model is used by the planner to produce the most appropriate sequence of actions for the task at hand. These approaches allow for explicitly formulating the task and goals of the system, and ....

Giralt, G., Chatila, R. & Vaisset, M. (1983), An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots, in M. Brady & R. Paul, eds, `First International Symposium on Robotics Research', The MIT Press, Cambridge, Massachusetts.

....been completed. The other mode of learning is to sense the environment, while executing paths which have been generated by a path planner. As obstacles are encountered en route to a goal, the model of the environment is updated and a new path to the goal is planned to avoid the obstacles [16] 26] [27]. The length of the paths generated by this system will initially be locally optimal. However as knowledge of the environment increases the optimisation of the length of planned path improves, until the planned path is globally optimal. Environment learning methods of this type have difficulty in ....

G. Giralt, R. Chatila and M. Vaisset, "An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots",The First International Symposium of Robotics Research, MIT Press, pp191-214, 1984.

....presented and some solutions are proposed. Applications to a particular system follow. x y x y 0 d 2r x y O O Fig. 1. Hilare like Mobile Platform 2. CONFIGURATION, LOCATION, DEGREE OF FREEDOM AND MOBILITY DEGREE 2. 1 Mechanical System The two driven wheels mobile platform is of HILARE type (Giralt et al. 1984). It is sketched in figure 1. A moving frame R 0 = O 0 ; x 0 ; y 0 ; z 0 ) is attached to this platform (cf. figure 1) The robotic arm is a simple open kinematic chain arm with n joints ; it is mounted on the platform and acts on the environment with its end effector (EE) a ....

Giralt, G. et al. (1984). An integrated navigation and motion control system for autonomous multisensory mobile robots. In: proceedings of the first International Symposium of Robotics Research, Cambridge, MA, USA.

.... However, other lower level competences such as collision avoidance may be continually active regardless of the Robot High Level Functions Allen [8] Wander Attila Hannibal [21] Keep walking Genghis [9] Keep walking George HARV [1] Reactively navigate Herbert [14] Collect empty soda cans Hilare [28] Map office environment Polly [29] Give 7th floor AI Lab tours Rocky III Search for soft soil; acquire soil sample; 38, 26] return sample to home Rocky IV Collect soil sample; chip rocks; deploy [27, 26] instruments; return sample to home RPV [6] Reactively navigate underwater Squirt [23] ....

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In M. Brady and R. Paul, editors, First International Symposium on Robotics Research. MIT Press, 1983.

.... Theta (S 1 ) n 1 is not reachable. Taking into account the connection relations (3. 7) any one of the Cartesian positions x i ; y i together with all the hitch angles 0 ; n will completely 1 The Hilare family of mobile robots resides at LAAS in Toulouse, see for example [10, 18]. 23 represent the configuration of the system. The configuration space is thus M = R 2 Theta (S 1 ) n 1 and has dimension n 3. In any neighborhood, the configuration space can be parameterized by R n 3 : The velocity constraints on the system arise from constraining the wheels of the ....

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In M. Brady and R. Paul, editors, Robotics Research : The First International Symposium, pages 191--214. MIT Press, Cambridge, Massachusetts, 1984.

.... perpendicular direction is L i 1 i 1 cos( i Gamma i 1 ) If the i th trailer rolls without slipping then we must have 0 = L i 1 i 1 cos( i 1 Gamma i ) Gamma v i 1 sin( i 1 Gamma i ) 9) 1 The Hilare family of mobile robots resides at LAAS in Toulouse, see for example [4, 8]. 2 The intuition for this comes from the oft repeated dictum: when backing up a car with a trailer, keep your eye on the hind part of the trailer . Of course, the generalization to this dictum is: when driving a car with n trailers keep your eye on the endpoint of the n th trailer. q i 1 q ....

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In M. Brady and R. Paul, editors, Robotics Research : The First International Symposium, pages 191--214. MIT Press, Cambridge, Massachusetts, 1984.

....n ; 0 because the calculations that follow are vastly simplified. 2 We will refer to the state space as x = x n ; y n ; n ; 1 ; 0 ) We have assumed that the bodies are connected between 1 The Hilare family of mobile robots resides at LAAS in Toulouse, see for example [8, 14]. 2 The intuition for this comes from the oft repeated dictum: when backing up a car with a trailer, keep your eye on the hind part of the trailer . Of course, the generalization to this dictum is: when driving a car with n trailers keep your eye on the endpoint of the n th trailer ....

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In M. Brady and R. Paul, editors, Robotics Research : The First International Symposium, pages 191--214. MIT Press, Cambridge, Massachusetts, 1984.

.... planner based systems are top down, and require the robot to perform a serial sequence of processing sense plan act steps (e.g. combine the sensory data into a model of the world, then use the planner to find a path in the model, then send each of the steps of the plan to the robot s wheels ) [37, 66, 45]. Hybrid systems attempt a compromise between the thinking and acting extremes by employing a reactive system for low level control and a planner for higher level decision making [30, 36, 8, 73, 51, 22] Hybrid systems tend to separate the control system into two or more communicating but ....

G. Giralt, Raja Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In Michael Brady and R. Paul, editors, First International Symposium on Robotics Research, pages 191--214. MIT Press, Cambridge, MA, 1983.

No context found.

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In M. Brady and R. Paul, editors, First International Symposium on Robotics Research, pages 191--214, Cambridge MA, 1984. MIT Press.

No context found.

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In First International Symposium on Robotics Research. MIT Press, 1984.

No context found.

G. Giralt, R. Chatila, and M. Vaisset. An integrated navigation and motion control system for autonomous multisensory mobile robots. In M. Brady and R. Paul, editors, First International Symposium on Robotics Research, pages 191--214. MIT Press, Cambridge, MA, 1984.

No context found.

G. Giralt, R. Chatils, M. Vaisset, :'An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots", 1st International Symposium of Robotic Research, Bretton Woods, NH, September 1983.

No context found.

G. Giralt, R. Chatila and M. Maisset, "An integrated navigation and motion control system for autonomous multisensory mobile robots", in 1st Int. Symp. Robotics Research, pp. 191-214, 1983.

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G.G. Giralt, R. Chatila and M. Vaisset, An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots, in: Robotics Research, 1st international symposium, pp. 191 - 214, 1984.

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