AUTONOMOUS MONITORING AND REACTION TO FAILURES IN A TOPOLOGICAL NAVIGATION SYSTEM

V. Egido; R. Barber; M. J. L. Boada; M. A. Salichs

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Paper

AUTONOMOUS MONITORING AND REACTION TO FAILURES IN A TOPOLOGICAL NAVIGATION SYSTEM

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 383-386, 2005 , Barcelona, Spain

Authors: V. Egido ; R. Barber ; M. J. L. Boada and M. A. Salichs

Affiliation: Robotics Lab. Carlos III University, Spain

Keyword(s): Robot navigation; Monitoring; Supervision; Robot skills.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: In this paper a system for simultaneous navigation and monitoring with autonomous reaction to failures is going to be presented. This system is part of a complete navigation system called AURON (Autonomous Robot Navigation). The AURON System autonomy is based on the interaction of four main components: the autonomous generation of an environment representation, the planning of a sequence of actions and perceptions which guide the robot from an initial event to a final one, the navigation that converts sequences in real movements and supervises all the process, and the relocalization that allows to place the robot again in the representation. This system has been implemented in a mobile robot control architecture called AD. AD is a two level architecture: deliberative and automatic. The paper is focused in one deliberative skill, the navigation skill.

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Paper citation in several formats:

Egido, V.; Barber, R.; J. L. Boada, M. and A. Salichs, M. (2005). AUTONOMOUS MONITORING AND REACTION TO FAILURES IN A TOPOLOGICAL NAVIGATION SYSTEM. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 383-386. DOI: 10.5220/0001156603830386

@conference{icinco05,
author={V. Egido. and R. Barber. and M. {J. L. Boada}. and M. {A. Salichs}.},
title={AUTONOMOUS MONITORING AND REACTION TO FAILURES IN A TOPOLOGICAL NAVIGATION SYSTEM},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={383-386},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001156603830386},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - AUTONOMOUS MONITORING AND REACTION TO FAILURES IN A TOPOLOGICAL NAVIGATION SYSTEM
SN - 972-8865-30-9
IS - 2184-2809
AU - Egido, V.
AU - Barber, R.
AU - J. L. Boada, M.
AU - A. Salichs, M.
PY - 2005
SP - 383
EP - 386
DO - 10.5220/0001156603830386
PB - SciTePress