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13 April 1993 Autonomous navigation of mobile robots for real-world applications
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We believe that the field of autonomous mobile robots is reaching a sufficient level of maturity that robust fieldable systems are technically possible. Such systems will draw upon both the ideas of deliberative planning and situated reaction (or situated skills). Situated skills will provide the system with the local competence required to handle the world's immediate uncertainties and carry out simple tasks. Deliberative planning, on the other hand, will serve to orchestrate the activation of situated skills in order to lead the system towards globally defined objectives. This paper outlines the mobile robot navigation problem and describes what is meant both by situated skills and deliberative planning. Finally, an outline of MITRE's current effort in developing a software architecture for autonomous mobile robots is presented.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Marc G. Slack "Autonomous navigation of mobile robots for real-world applications", Proc. SPIE 1838, 21st AIPR Workshop on Interdisciplinary Computer Vision: An Exploration of Diverse Applications, (13 April 1993);

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