ARCHITECTURE AND TWO CASES IN RANGE-BASED MODELING AND PLANNING.

William L. Whittaker*, George Turkiyyah, Martial Hebert

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

A framework is presented for autonomous robots that reason from range data. The authors argue for spatial reasoning as a basic recognition mode for robots operating in unpredictable work environments and present a three-level architecture for modeling and planning from range data. Two implementations, robotic excavation with sonar ranging and mine navigation with laser ranging, illustrate the techniques and provide two experiences to evaluate the architecture.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1991-1997
Number of pages7
ISBN (Print)0818607874
StatePublished - 1987
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)

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