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An autonomic behavior-based software architecture for mobile manipulator

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3 Author(s)
Shu Huang ; PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300b, B-3001 Heverlee, Belgium ; Erwin Aertbelien ; Hendrik Van Brussel

Integrating autonomic computing concept into the behavior-based architecture enhances the abilities of mobile robots to operate in dynamically changing environment. The constraint-based behavior fusion mechanism provides a proper fusion solution for different behaviors and a unified entry point for autonomic computing components (ACC). This design philosophy distributes the responsibilities of task execution to several elementary behavioral units and the inner self maintaining mechanisms to corresponding self-X ACCs. A task execution of a door-opening example shows the implementation of this method.

Published in:

2008 IEEE Workshop on Advanced robotics and Its Social Impacts

Date of Conference:

23-25 Aug. 2008