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Planning and Acting with an Integrated Sense of Space
University of Birmingham.
DFKI Saarbrücken. (Language Technology Lab)
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
Albert-Ludwigs-Universität, Freiburg. (Foundations of Artificial Intelligence)
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2009 (English)In: Proceedings of the 1st International Workshop on Hybrid Control of Autonomous Systems:  Integrating Learning, Deliberation and Reactive Control (HYCAS), 2009Conference paper, Published paper (Refereed)
Abstract [en]

The paper describes PECAS, an architecture for intelligent systems, and its application in the Explorer, an interactive mobile robot. PECAS is a new architectural combination of information fusion and continual planning. PECAS plans, integrates and monitors the asynchronous flow of information between multiple concurrent systems. Information fusion provides a suitable intermediary to robustly couple the various reactive and deliberative forms of processing used concurrently in the Explorer. The Explorer instantiates PECAS around a hybrid spatial model combining SLAM, visual search, and conceptual inference. This paper describes the elements of this model, and demonstrates on an implemented scenario how PECAS provides means for flexible control.

Place, publisher, year, edition, pages
2009.
Keyword [en]
planning, artificial intelligence, robotics, spatial representation
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-38270OAI: oai:DiVA.org:kth-38270DiVA: diva2:436469
Conference
1st International Workshop on Hybrid Control of Autonomous Systems
Projects
CogX
Funder
EU, FP7, Seventh Framework Programme
Note
QC 20111117Available from: 2011-08-23 Created: 2011-08-23 Last updated: 2011-11-17Bibliographically approved

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Jensfelt, Patric

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Sjöö, KristofferJensfelt, Patric
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Citation style
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