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Title: A behaviour-based blackboard architecture for mobile robots
Authors: Van Brussel, Hendrik
Moreas, Ronny
Zaatri, A
Nuttin, Marnix #
Issue Date: Aug-1998
Host Document: Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society IECON'98 vol:4 pages:2162-2167
Conference: 24th Annual Conference of the IEEE Industrial Electronics Society IECON'98 edition:24 location:Aachen, Germany date:Aug 31 - Sep 4, 1998
Abstract: Mobile robot control architectures are gradually shifting from hierarchical towards behaviour-based. Hierarchical controllers lack flexibility; behaviour-based architectures, on the contrary, enable rapid response to environment changes and, moreover, they feature robustness in industrial environments. A behaviour-based mobile robot system is described enabling task execution in unstructured real-world environments. The behaviour model consists of a number of motion behaviours, including reflexes and voluntary motion behaviours, and knowledge acquisition modules providing task-oriented information about the robot environment. A blackboard model is introduced to overcome some shortcomings of existing systems, especially concerning modularity and task execution capabilities. Some realistic scenarios are described to show the versatility of the system.
URI: 
Publication status: published
KU Leuven publication type: IC
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
# (joint) last author

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