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SPOTT: Task-Driven Behavioral Navigation for a Mobile Robot

J. Zelek, M.D. Levine A robot control architecture called SPOTTgif SPOTT System Overview. The main components of SPOTT are illustrated. The behavioral controller is an interpreter of control programs. The potential field performs dynamic local path planning. An AI planner produces a path based on an abstract graph representation of the CAD map and provides global information to the local path planner. The map database contains the a priori CAD map, a graph abstraction of the CAD map, as well as a map of the newly sensed features.fg:sys_over

Thierry Baron
Mon Apr 7 12:54:24 EDT 1997