A Multi-Level Planning and Navigation System for a Mobile Robot: A First Approach to HILARE
Abstract
This paper describes the current state of HILARE: a modular progressively-built mobile robot aimed at general robotics research. The computer organization comprises of local mini and micro processors coupled with a remote time-shared system acting as a consulting facility. A multi-level decision-making system is presented with world models, inference rules, and algorithms particular to each level. The navigation planner uses a geometric model wherein 2-space is partitioned into polygonal areas based on perceptual and/or initial information. A cost function is proposed which provides support for optimal or E-optimal path finding.
Cite
Text
Giralt et al. "A Multi-Level Planning and Navigation System for a Mobile Robot: A First Approach to HILARE." International Joint Conference on Artificial Intelligence, 1979.Markdown
[Giralt et al. "A Multi-Level Planning and Navigation System for a Mobile Robot: A First Approach to HILARE." International Joint Conference on Artificial Intelligence, 1979.](https://mlanthology.org/ijcai/1979/giralt1979ijcai-multi/)BibTeX
@inproceedings{giralt1979ijcai-multi,
title = {{A Multi-Level Planning and Navigation System for a Mobile Robot: A First Approach to HILARE}},
author = {Giralt, Georges and Sobek, Ralph P. and Chatila, Raja},
booktitle = {International Joint Conference on Artificial Intelligence},
year = {1979},
pages = {335-337},
url = {https://mlanthology.org/ijcai/1979/giralt1979ijcai-multi/}
}