Organizational Unit:
Mobile Robot Laboratory
Mobile Robot Laboratory
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ItemBuzz, An Instantiation of a Schema-Based Reactive Robotic System(Georgia Institute of Technology, 1993) Arkin, Ronald C. ; Balch, Tucker ; Collins, Thomas Riley ; Henshaw, Andrew M. ; MacKenzie, Douglas Christopher ; Nitz, Elizabeth ; Rodriguez, David ; Ward, Keith RonaldThe Georgia Tech entry to the AAAI Mobile Robot Competition, a schema-based reactive robotic system, is described. New developments are presented including the introduction of two novel behaviors probe and avoid-past, specialized planning and sensing strategies, and a transputer implementation of the reactive control system.
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ItemIntegrated Control for Mobile Manipulation for Intelligent Materials Handling(Georgia Institute of Technology, 1992) Arkin, Ronald C. ; Arya, S. ; Book, Wayne J. ; Cameron, Jonathan M. ; Gardner, Warren F. ; Lawton, Daryl T. ; MacKenzie, Douglas Christopher ; Ramanathan, V. ; Son, C. ; Vachtsevanos, George J. ; Ward, Keith RonaldAn integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and micro-manipulation components. Computer vision and other sensor modalities provide the input necessary to cope with materials handling tasks in a partially modeled and dynamic world.