AUTONOMOUS MONITORING AND REACTION TO FAILURES IN A TOPOLOGICAL NAVIGATION SYSTEM

V. Egido, R. Barber, M. J. L. Boada, M. A. Salichs

Abstract

In this paper a system for simultaneous navigation and monitoring with autonomous reaction to failures is going to be presented. This system is part of a complete navigation system called AURON (Autonomous Robot Navigation). The AURON System autonomy is based on the interaction of four main components: the autonomous generation of an environment representation, the planning of a sequence of actions and perceptions which guide the robot from an initial event to a final one, the navigation that converts sequences in real movements and supervises all the process, and the relocalization that allows to place the robot again in the representation. This system has been implemented in a mobile robot control architecture called AD. AD is a two level architecture: deliberative and automatic. The paper is focused in one deliberative skill, the navigation skill.

References

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Paper Citation


in Harvard Style

Egido V., Barber R., J. L. Boada M. and A. Salichs M. (2005). AUTONOMOUS MONITORING AND REACTION TO FAILURES IN A TOPOLOGICAL NAVIGATION SYSTEM . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 383-386. DOI: 10.5220/0001156603830386


in Bibtex Style

@conference{icinco05,
author={V. Egido and R. Barber and M. J. L. Boada and M. A. Salichs},
title={AUTONOMOUS MONITORING AND REACTION TO FAILURES IN A TOPOLOGICAL NAVIGATION SYSTEM},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={383-386},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001156603830386},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - AUTONOMOUS MONITORING AND REACTION TO FAILURES IN A TOPOLOGICAL NAVIGATION SYSTEM
SN - 972-8865-30-9
AU - Egido V.
AU - Barber R.
AU - J. L. Boada M.
AU - A. Salichs M.
PY - 2005
SP - 383
EP - 386
DO - 10.5220/0001156603830386