Julio K. Rosenblatt

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An architecture is presented for robot control which can be viewed as a very fine-grained layered architecture motivated by the principles underlying the subsumption architecture. The subsumption architecture provides a powerful means for defining intelligent robot control mechanisms through the layered composition of simple behaviors. However, the authors(More)
We present a set of architectural concepts which address the needs for integrating high-level planning activities with lower-level reactive or participatory behaviors. Based on lessons learned from our experience with a hierarchical architecture for autonomous crosscountry navigation, we have come to recognize various pitfalls that may arise from the misuse(More)
This paper describes a highly distributed fault-tolerant control system capable of compensating for deficiencies in system-level performance even when the cause of a fault cannot be explicitly identified. Developed for an autonomous underwater vehicle that must remain operational for several weeks without human intervention, this system must be capable of(More)
We describe a GOMS model of a ship-board Radar Operator’s behavior while monitoring air and sea traffic. GOMS is a technique that has been successfully used in Human-Computer Interaction to generate ngineering models of human performance. Based on the GOMS model developed, we identified those portions of the task where an intelligent agent would be most(More)
If the robotics community is to evolve to create systems of greater complexity and capability, then we must be able to build upon those solutions developed by others in the community. Currently, it is usually necessary to create an entire system from scratch for each new project, or at best to reuse parts developed within the same laboratory, so that large(More)