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- From: cleary@damon.ccs.northeastern.edu (Michael Cleary)
- Newsgroups: comp.robotics
- Subject: Re: guide and control system
- Message-ID: <CLEARY.92Dec22144922@damon.ccs.northeastern.edu>
- Date: 22 Dec 92 19:49:22 GMT
- References: <1992Dec15.143814.2836@solaris.rz.tu-clausthal.de>
- Sender: news@random.ccs.northeastern.edu
- Organization: College of Computer Science, Northeastern University
- Lines: 63
- In-Reply-To: vellmer@iw.uni-hannover.de's message of 15 Dec 92 14: 38:14 GMT
- Nntp-Posting-Host: damon-gateway.ccs.northeastern.edu
-
- In article <1992Dec15.143814.2836@solaris.rz.tu-clausthal.de> vellmer@iw.uni-hannover.de (Ulrich Vellmer) writes:
- i'm looking for references about concepts of 'intelligent' guide and control
- systems for vehicles (especially autonomous underwater vehicle (auv), remotely
- operated vehicle (rov)).
-
- Some info with which to start your search:
-
- Bonasso describes a three-layer, subsumption-like architecture he calls
- ``layered competences'' (\cite{bonasso90} \cite{bonasso91a}
- \cite{bonasso91b}). He allows more communication between layers than the
- subsumption architecture and the circuits operate synchronously (due to the
- use of REX/GAPPS \cite{kaelbling87}). Perception at every level is task-directed.
-
- They developed a pilot's assistant for an underwater remotely piloted vehicle
- which takes heading commands from a joystick and moves the vehicle in the
- indicated direction, avoiding obstacles and holding its 3-D position once on
- station. The architecture was also demonstrated on land vehicles (a Hero and
- a Denning, \cite{bonasso91b}). The original description of the architecture
- was in \cite{bonasso90}.
-
- The citations are:
-
- @string{bonasso = "R. Peter Bonasso"}
- @string{kaelbling = "Leslie Pack Kaelbling"}
-
- @InProceedings{bonasso90,
- author = bonasso,
- title = "Creature {CO-OP}: Achieving Robust Remote Operations with a
- Community of Low-cost Robots",
- booktitle = "Proceedings, Fifth Conf. on AI for Space Applications",
- year = 1990,
- }
-
- @InProceedings{bonasso91a,
- author = bonasso,
- title = "Underwater Experiments using a Reactive System for Autonomous Vehicles",
- booktitle = aaai,
- year = 1991,
- pages = "794-800",
- }
-
- @inproceedings{bonasso91b,
- author = bonasso,
- title = "Integrating Reaction Plans and Layered Competences through
- Synchronous Control",
- booktitle = ijcai,
- year = 1991,
- }
-
- @InProceedings{kaelbling87,
- author = kaelbling,
- title = "An Architecture for Intelligent Reactive Systems",
- booktitle = "Proceedings of the 1986 workshop: Reasoning about actions and plans",
- year = 1987,
- pages = "395-410",
- editor = " Michael P. Georgeff and Amy L. Lansky",
- publisher = " M. Kaufmann Publishers",
- }
- --
- Michael Cleary Internet: cleary@cs.northeastern.edu
- Office: College of Computer Science, 53CN Phones: (617) 437-4607
- Lab: Robotic & Vision Systems Lab, 357DA (617) 437-5242
- Northeastern University, 360 Huntington Avenue, Boston, Ma. 02115 USA
-