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19 July 1999 Dynamic selection of perception processes on an autonomous robot
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In this paper, we are interested in the design and the experiment of a control architecture for an autonomous outdoor mobile robot which mainly uses vision. We focus on the design of a mechanism that permits the dynamic selection and firing of perception processes. We propose a hybrid architecture that uses an attention mechanism which controls the robot environment awareness while managing the computational resources and allowing a fair reactivity. We describe its implementation and experimentation on a robot in an outdoor environment.
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Andre Dalgalarrondo and Dominique Luzeaux "Dynamic selection of perception processes on an autonomous robot", Proc. SPIE 3691, Enhanced and Synthetic Vision 1999, (19 July 1999);

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