Abstract
This paper deals with the software system design of robots that can replace or assist humans in intervention tasks in hazardous environments. We consider missions that include navigation from a site to another, execution of specific tasks, and transmission of data. Communication difficulties with a remote ground station (delays and bandwidth), as well as time constraints on the tasks make it necessary to endow such robots with a high level of autonomy in the execution of a well specified mission. However, it is today unrealistic to build completely autonomous (and useful) robots. This paper presents an approach to answer these requirements; it describes an on-board robot system architecture that enables the robot to interpret its mission according to the context, and to control and adapt in real time the execution of its actions.
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© 1993 Springer-Verlag London Limited
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Chatila, R., Alami, R., Degallaix, B., Pérébaskine, V., Gaborit, P., Moutarlier, P. (1993). An architecture for task interpretation and execution control for intervention robots: Preliminary experiments. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036141
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DOI: https://doi.org/10.1007/BFb0036141
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