An architecture and two cases in range-based modeling and planning

March 1987

An architecture and two cases in range-based modeling and planning

Authors:

W. Whittaker, G. Turkiyyah, and M. Hebert
Conference Paper
Proceedings of (ICRA) International Conference on Robotics and Automation

Abstract:

This paper presents a framework for autonomous robots that reason from range data. We argue for spatial reasoning as a basic cognition mode for robots operating in unpredictable work environments and present a three-level architecture for modeling and planning from range data. Two implementations, robotic excavation with sonar ranging and mine navigation with laser ranging, illustrate the techniques and provide two experiences to evaluate the architecture.
@conference{Whittaker-1987-123000,
author = {W. Whittaker And G. Turkiyyah And M. Hebert},
title = {An architecture and two cases in range-based modeling and planning},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1987},
month = {March},
pages = {1991 - 1997},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.