Raja Chatila

Specification and validation of a control architecture for autonomous mobile robots

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96

... TakeimageiYhenLocostateCircling: function == "TAKEIRAGEI" , operation == "STAR... more ... TakeimageiYhenLocostateCircling: function == "TAKEIRAGEI" , operation == "START", Bvideostate == "IDLE", Blocostate == "CIRCLIBG" do sendrequest("LOC0" ,"STOP") , do ... of the automaton when a takeimagel request arrives and the HILARE'S loco-motion module is ...

Trustworthy AI

Reflections on Artificial Intelligence for Humanity, 2021

A planning architecture for mobile robotics

AIP Conference Proceedings, 2008

ABSTRACT Mobile robots such as explorer rovers need task and path planning abilities in order to ... more ABSTRACT Mobile robots such as explorer rovers need task and path planning abilities in order to fulfill their assigned missions: path planning to plan their movements and task planning to plan their actions. The coupling between these two kinds of planning presents open issues such as the description of the environment and the consideration of geometric constraints that must be verified in order to act and move during an action. This paper addresses these issues by proposing an architecture in which a hierarchical task planner sends requests to a path planner in order to check the feasibility of actions. Requirements allowing the path planner to produce an answer are presented as well as the description of planning operators. Finally, we specify the mechanism and the communication language by which the task planner produces requests and takes into account answers.

How to teleprogram a remote intelligent robot

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

ABSTRACT Considers the problem of programming a remote intervention robot with a high degree of a... more ABSTRACT Considers the problem of programming a remote intervention robot with a high degree of autonomy and reasoning abilities. The authors propose a control strategy, called task-level teleprogramming, based on a specific architecture. After a brief presentation of their approach, the authors discuss in this paper developments, mainly a teleprogramming language, and illustrate them with an example

Incremental free-space modelling from uncertain data by an autonomous mobile robot

Lecture Notes in Computer Science, 1993

Explicit representation of free-space is necessary for mobile robot navigation. This paper presen... more Explicit representation of free-space is necessary for mobile robot navigation. This paper presents a fully implemented system that achieves incremental environment modelling for a 2D mobile robot using a laser range-finder. This system produces a surfacic model of objects (polylines and associated uncertainties) and a model of free-space (polygons) taking into account possible appearance and disappearance of objects.

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Autonomous navigation in outdoor environment: adaptive approach and experiment

Proceedings of the 1994 IEEE International Conference on Robotics and Automation

Abstract This paper presents the approach, algorithms and processes we developed to perform cross... more

Decoupling odometry and exteroceptive perception in building a global world map of a mobile robot: the use of local maps

Proceedings of IEEE International Conference on Robotics and Automation

A mobile robot navigates in an environment and incrementally builds a map while locating itself. ... more A mobile robot navigates in an environment and incrementally builds a map while locating itself. The quality of the map depends on the sensor models. Due to the difficulty of defining a stochastic odometric model, the classical approach based on Kalman filtering is revisited in order to decouple the information provided by the odometric sensor and exteroceptive sensors. The proposed

Planet Exploration by Robots: From Mission Planning to Autonomous Navigation

Advanced Robotics, 1993

Control architectures for autonomous mobile robots

Proceedings of PerAc '94. From Perception to Action

ABSTRACT

Reactive Processes for Mobile Robot Control

Advanced Robotics: 1989, 1989

ABSTRACT

How to implement dynamic paths

Lecture Notes in Control and Information Sciences, 1998

Sensor-b~sed dynamic path modification is one of powerful issues to combine planning and reactive... more Sensor-b~sed dynamic path modification is one of powerful issues to combine planning and reactive control. This paper treats problems related to flexible trajectories implementation and presents solutions to connect functional levels from the planning to the execution. A general dynamic path structure is proposed and discussed including execution needs and constraints. Implementation algorithms are then developed and presented for general metrics and execution contexts. Finally, solutions for car-hke mobile robots are encapsulated in a complete system joining these different levels and mange there functional coherence.

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S'orienter dans un monde inconnu

任务级可编程有害环境下作业机器人:“遥控自主式机器人” 的基本原理

A. International Advisory Council

Task Level Programming And Robot Autonomy

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems

ABSTRACT

Supervision and interaction

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

This paper presents the design and the implementation of a new tour-guide robot and reports on th... more This paper presents the design and the implementation of a new tour-guide robot and reports on the first results that have been obtained after its deployment in a permanent exhibition. The project is conducted so as to incrementally enhance the robot functional and decisional capabilities based on the observation of the interaction between the public and the robot. Besides robustness

Natural scene understanding for mobile robot navigation

Proceedings of the 1994 IEEE International Conference on Robotics and Automation

Abstract In this paper, we focus on some perceptual func-tions required by a generic task GOTO ... more

Systeme de Navigation pour un robot mobile autonome

Simultaneous localisation and digital elevation map building from aerial stereo imagery

Remote operated autonomous robots

Intelligent robotics, 1991

In this paper, we describe the task level teleprogramming and execution control of an interventio... more

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