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The Application of Design Schemata in Off-Road Robotics

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4 Author(s)
Bernd-Helge Schafer ; Fachbereich Informatik, University of Kaiserslautern, Kaiserslautern, D-67653, Germany ; Christopher Armbrust ; Tobias Fohst ; Karsten Berns

This paper presents a novel concept that combines action-oriented and perception-oriented concepts for the development of robot control systems with the aim to close the semantic gap between the two approaches. Furthermore, the paper describes a representation scheme for a generic modeling of environment data from arbitrary sensors. Formal abstraction and fusion methods are introduced, and their application in the control system of a real robot is demonstrated using the example of the autonomous off-road vehicle RAVON.

Published in:

IEEE Intelligent Transportation Systems Magazine  (Volume:5 ,  Issue: 1 )