NDLI: Situated robot design with prioritized constraints

Content Provider	IEEE Xplore Digital Library
Author	Muyan-Ozcelik, P. Mackworth, A.K.
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada (Muyan-Ozcelik, P.; Mackworth, A.K.)
Abstract	The constraint-based agent (CBA) framework with prioritized constraints is a simple and effective methodology for designing and building situated robots. This methodology can be seen as a formal development of the 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 ball is presented as an illustrative case study of this design methodology. Ainia is first modeled, simulated, and animated with the constraint nets in Java (CNJ) 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 physical robot satisfy the requirements specification. Hence, this study provides evidence that the formal CBA framework with prioritized constraints is an effective approach for synthesizing situated robot controllers. In addition, it supports the claim that CNJ is an effective tool for designing and building situated robots operating in the real world.
Starting Page	1807
Ending Page	1814
File Size	654939
Page Count	8
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1389659
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Control system synthesis Robotic assembly Design methodology Buildings Animation Java Modeling Interference constraints Computer science
Content Type	Text
Resource Type	Article

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