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An autonomous robot o ers a challenging and ideal eld for the study of intelli gent architectures Autonomy within a rational behavior could be evaluated by the robot s e ectiveness and robustness in carrying out tasks in di erent and ill known environments It raises major requirements on the control architecture Furthermore a robot as a programmable machine(More)
In this paper, we present and discuss a distributed scheme for multi-robot cooperation. It integrates mission planning and task refinement as well as cooperative mechanisms adapted from the Contract Net Protocol framework. We discuss its role and how it can be integrated as a component of a complete robot control system. We also discuss how it handles(More)
In this paper we discuss Procedural Reasoning Sys tem PRS as a high level Control and Supervision lan guage adapted to autonomous robots to represent and execute procedures scripts and plans in dynamic envi ronments We discuss the main reasons why PRS is well suited for this type of application The semantics of its plan procedure representation which is(More)
This paper deals with the task allocation problem in multi-robot systems. We propose a completely distributed architecture, where robots dynamically allocate their tasks while they are building their plans. We first focus on the problem of simple "goto" tasks allocation: our approach involves an incremental task allocation algorithm based on the(More)
Robot navigation in the presence of humans raises new issues for motion planning and control when the humans must be taken explicitly into account. We claim that a human aware motion planner (HAMP) must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths. This paper focuses on a motion planner that takes(More)
The Martha project objectives are the control and the management of a eet of au tonomous mobile robots for transshipment tasks in harbours airports and marshaling yards Our presentation focuses on one of the most challenging and key problems of the Martha project the multi robot cooperation Indeed high level missions are produced by a Central Station and(More)
We propose a representation and a planning algorithm able to deal with problems integrating task planning as well as motion and manipulation planning knowledge involving several robots and objects. Robot plans often include actions where the robot has to place itself in some position in order to perform some other action or to “modify” the configuration of(More)
This paper presents the combined results of two studies that investigated how a robot should best approach and place itself relative to a seated human subject. Two live Human Robot Interaction (HRI) trials were performed involving a robot fetching an object that the human had requested, using different approach directions. Results of the trials indicated(More)
We present in this paper a methodology for computing the maximum velocity profile over a trajectory planned for a mobile robot. Environment and robot dynamics as well as the constraints of the robot sensors determine the profile. The planned profile is indicative of maximum speeds that can be possessed by the robot along its path without colliding with any(More)
Navigation is a basic skill for autonomous robots. In the last years human-robot interaction has become an important research field that spans all of the robot capabilities including perception, reasoning, learning, manipulation and navigation. For navigation, the presence of humans requires novel approaches that take into account the constraints of human(More)