(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 Ronald
An 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.