Intelligent Autonomous Robotic Systems: Some General Issues and Two Representative Research Prototypes

  • S. G. Tzafestas
Part of the International Series on Microprocessor-Based and Intelligent Systems Engineering book series (ISCA, volume 18)


Autonomous robotic systems (manipulators, mobile robots, mobile manipulators) are used in factories to perform difficult tasks such as assembly, welding, painting, material handling etc. and in other real-life environments for various service tasks (domestic, health care etc.) [1,2]. Two basic problems in autonomous robotic systems are:(i) the path and motion planning problem, and (ii) the motion control problem. Given the path provided by the path planner, the robot motion motors/wheels are driven by appropriate controllers, so that the motion is performed smoothly and accurately along the planned path to arrive at the destination points. If a robotic manipulator is equipped with sensors, its trajectory and control can be modified by contact forces or tactile signals occurring during motion (compliant motion control).


Mobile Robot Path Planning Obstacle Avoidance Mobile Manipulator Task Planning 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Science+Business Media Dordrecht 1999

Authors and Affiliations

  • S. G. Tzafestas
    • 1
  1. 1.Intelligent Robotics and Automation LaboratoryNational Technical University of AthensZographou, AthensGreece

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