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P. Muyan-Ozcelik and Alan K. Mackworth. Situated Robot Design with Prioritized Constraints. In Proceedings of the International Conference on Intelligent Robots and Systems, IROS 2004, pp. 1807–1814, Sendai, Japan, September 2004.
The Constraint-Based Agent (CBA) framework with prioritized constrainls is a slmple and effective methodology for designing and building situated robots. This methodology can be seen as a formal development ofthe subsumption approach. It prevents ad hoc layering of behaviors and supports modular development of the system. A situated robot called Ainia that repeatedly finds, tracks, chases, and kicks a hall is presented as an illustrative case study of this design methodology. Ainia is first modeled, simulated, and animated with the Constraint Nets in Java (CNa tool. Then, a prioritized constraint-based controller of the simulated Ainia is used to control the physical robot in the real world. The results show that the behaviors of the physic4 robot satisfy the requirements specification. Hence, this study provides evidence that the formal CBA framework witb prioritized constraints is an effective approach for synthesizing situated robot controllers. In addition, it supports the claim that CNJ Is an effective tool for designin
@InProceedings{IROS04,
author = {P. Muyan-Ozcelik and Alan K. Mackworth},
title = {Situated Robot Design with Prioritized Constraints},
year = {2004},
month = {September},
booktitle = {Proceedings of the International Conference on Intelligent Robots and Systems, IROS 2004},
address = {Sendai, Japan},
pages = {1807--1814},
abstract = {The Constraint-Based Agent (CBA) framework
with prioritized constrainls is a slmple and effective methodology
for designing and building situated robots. This methodology
can be seen as a formal development ofthe subsumption
approach. It prevents ad hoc layering of behaviors and
supports modular development of the system.
A situated robot called Ainia that repeatedly finds, tracks,
chases, and kicks a hall is presented as an illustrative case
study of this design methodology. Ainia is first modeled,
simulated, and animated with the Constraint Nets in Java
(CNa tool. Then, a prioritized constraint-based controller of
the simulated Ainia is used to control the physical robot in
the real world.
The results show that the behaviors of the physic4 robot
satisfy the requirements specification. Hence, this study provides
evidence that the formal CBA framework witb prioritized
constraints is an effective approach for synthesizing
situated robot controllers. In addition, it supports the claim
that CNJ Is an effective tool for designin},
bib2html_pubtype ={Refereed Conference Proceeding},
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}
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