Organizational Unit:
Mobile Robot Laboratory
Mobile Robot Laboratory
Permanent Link
Research Organization Registry ID
Description
Previous Names
Parent Organization
Parent Organization
Organizational Unit
Includes Organization(s)
ArchiveSpace Name Record
Publication Search Results
Now showing
1 - 2 of 2
-
ItemA Case-Based Approach to Reactive Control for Autonomous Robots(Georgia Institute of Technology, 1992) Moorman, Kenneth ; Ram, AshwinWe propose a case-based method of selecting behavior sets as an addition to traditional reactive robotic control systems. The new system (ACBARR - A Case BAsed Reactive Robotic system) provides more flexible performance in novel environments, as well as overcoming a standard "hard" problem for reactive systems, the box canyon. Additionally, ACBARR is designed in a manner which is intended to remain as close to pure reactive control as possible. Higher level reasoning and memory functions are intentionally kept to a minimum. As a result, the new reasoning does not significantly slow the system down from pure reactive speeds.
-
ItemCase-Based Reactive Navigation: A Cased Based Method for On-Line Selection and Adaptation of Reactive Control Parameters in Autonomous Robotics Systems(Georgia Institute of Technology, 1992) Ram, Ashwin ; Arkin, Ronald C. ; Clark, Russell J. ; Moorman, KennethThis article presents a new line of research investigating on-line learning mechanisms for autonomous intelligent agents. We discuss a case-based method for dynamic selection and modification of behavior assemblages for a navigational system. The case-based reasoning module is designed as an addition to a traditional reactive control system, and provides more flexible performance in novel environments without extensive high-level reasoning that would otherwise slow the system down. The method is implemented in the ACBARR (A Case-BAsed Reactive Robotic) system, and evaluated through empirical simulation of the system on several different environments, including "box canyon" environments known to be problematic for reactive control systems in general.