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)
Our experience over the years with different architectures and planning systems for mobile robots has led us to a distributed approach where an arbiter receives votes for and against commands from each subsystem and decides upon the course of action which best satisfies the current goals and constraints of the system. Centralized arbitration of votes from(More)
In unstructured, unknown, and dynamic environments, planning systems cannot generate a plan a priori that can be expected to perform reasonably in the face of such uncertainty, nor can they anticipate all contingencies that may arise; instead, decision-making must be based on current information and state at all times, proceeding in a data-driven manner,(More)