A robust layered control system for a mobile robot

@article{Brooks1986ARL,
  title={A robust layered control system for a mobile robot},
  author={Rodney A. Brooks},
  journal={IEEE J. Robotics Autom.},
  year={1986},
  volume={2},
  pages={14-23}
}
  • R. Brooks
  • Published 1 March 1986
  • Computer Science, Engineering
  • IEEE J. Robotics Autom.
A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower levels continue to function as higher levels are added. The result is a robust… 
A hardware retargetable distributed layered architecture for mobile robot control
  • R. Brooks
  • Computer Science
    Proceedings. 1987 IEEE International Conference on Robotics and Automation
  • 1987
TLDR
The MIT mobile robot project has adopted a layered approach to building robust control systems for autonomous mobile robots, which is operational on three completely different types of hardware and is now working on a fourth, by way of a special purpose silicon compiler for it.
A three-layered hierarchical path control system for mobile robots: Algorithms and experiments
TLDR
A three-layered hierarchical path control system for guiding a mobile robot through an unprepared cramped workspace to a specified goal point with main emphasis on achieving satisfactory performance with a minimum effort in sensing and computer hardware.
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TLDR
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Hardware and software architecture for execution control of an autonomous mobile robot
  • R. F. Camargo, R. Chatila, R. Alami
  • Computer Science
    Proceedings of the 1992 International Conference on Industrial Electronics, Control, Instrumentation, and Automation
  • 1992
The concepts of a general hardware and software architecture for the execution control of autonomous mobile robots are discussed. These concepts were applied to build HILARE II, a new experimental
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TLDR
This article describes the approach to designing and implementing a distributed control system for an intelligent mobile robot, and presents the implementation of such a distributed system for a prototype mobile robot.
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A system that enables robots to perform nonelementary tasks in an environment where unpredictable demands require adaptation of the robots' actions is described. A motion control system dealing with
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