This paper describes our progress in the development of a behavior-based, stimulus-response robot control software architecture that is expressly designed to program and execute interactive tasks, including assembly, multi-robot collaborative manipulation, and exploration. The system has been designed to assure stability and safety while maintaining flexibility and achieving expert performance. The architecture incorporates a reactive controller as a behavior server, and applications are written as client programs that can operate either locally or across a network. This organization has been demonstrated to be sufficiently open to support teleoperation tasks as well as human-guided supervisory control and full autonomous functionality.


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    Title :

    A client/server approach to open-architecture, behavior-based robot programming


    Contributors:
    Newman, W. (author) / Covitch, A. (author) / May, R. (author)


    Publication date :

    2006-01-01


    Size :

    615659 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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