13 April 1993 Point-counterpoint: big robots vs small robots
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Mobile robot architectures have been based on many different design principles: AI, control theory, hierarchical organization, etc. Brooks argues for a `subsumption' approach, based on layers of very simple, real-time computations. The CMU Navlab project takes a more pragmatic approach. The bottom layer is real-time, based on local coordinates, with no high- level models or central data structures to be bottlenecks. But the architectural tools developed for the Navlab also provide hooks for a higher level, based in world coordinates and using AI planning, to control the lower layer.
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Chuck E. Thorpe, Chuck E. Thorpe, } "Point-counterpoint: big robots vs small robots", Proc. SPIE 1838, 21st AIPR Workshop on Interdisciplinary Computer Vision: An Exploration of Diverse Applications, (13 April 1993); doi: 10.1117/12.142801; https://doi.org/10.1117/12.142801

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