AuRA: principles and practice in review

Arkin, Ronald C.; Balch, Tucker

doi:10.1080/095281397147068

Cited by 227 publications

(122 citation statements)

References 34 publications

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“…However, these do not address the high-level elements of cognition, knowledge representation, reasoning, and planning. Still others (such as AuRA [10] and RCS [11]) are hybrid architectures designed to combine high-level planning with low-level behaviors. The review of this architectures showed that the hybrid scheme has the best performing supervisory control architecture and it is more prosperous and promising dealing with unknown, dynamic navigation problem.…”

Section: Discussion Of Control Architecturesmentioning

confidence: 99%

Development of Intelligent Hybrid Architecture for Autonomous Uav.

Moussid¹,

Sayouti²,

Medromi.³

2017

IJAR

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Section: Discussion Of Control Architecturesmentioning

confidence: 99%

Development of Intelligent Hybrid Architecture for Autonomous Uav.

Moussid¹,

Sayouti²,

Medromi.³

2017

IJAR

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“…Alternative approaches to the synthesis of MRS controllers can be found in evolutionary methods [8] and learning methods [16,19]. There also exist a number of MRS design environments, control architectures, and programming languages which assist in the design of task-achieving coordinated MRS [17,2,19,1].…”

Section: Related Workmentioning

confidence: 99%

Toward a Multi-Robot Coordination Formalism

Jones

Matarić²

2004

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Coordination is an essential characteristic of any system, either natural or artificial, that is composed of multiple interacting agents. The mechanism by which the coordination is achieved determines such properties as how robust the system is to environmental perturbations, how efficient it is in performing a given task, and, more generally, what types of coordinated tasks can be achieved. A formal understanding of these issues will permit more focused analysis of coordinated natural systems and more effective approaches to the design of coordinated artificial systems. Toward this end, we are systematically investigating coordination in the context of multi-robot systems. We present a formal framework for multi-robot system (MRS) coordination and use it to discuss and reason about coordination. Using this principled foundation, we are developing a suite of general methods by which to automatically synthesize controllers for robots constituting a MRS such that a given task is performed in a coordinated fashion. This paper presents a method for the automatic synthesis of a specific type of controller, one that retains some internal state (e.g., memory of past occurrences) but is not capable of communication. Understanding the capabilities and limitations of a coordinated system composed of individual agents with such properties contributes to the understanding of when memory alone is sufficient to achieve the desired coordination and when other capabilities, such as communication, may be necessary. We validate our formal approach to the study of coordination in a multi-robot construction task domain through the use of both physically-realistic simulations and real-robot demonstrations.

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“…Arkin and Balch (1997) in their AuRA architecture proposed a homeostatic adaptation system that modifies the performance of the overall motor response according to the level of internal parameters such as battery or temperature. Another work that includes a homeostatic adaptation mechanism is the proposal by Low et al (2002) who introduced it to regulate the dynamic behavior of the robot during task execution.…”

Section: Homeostatic Image Stabilizationmentioning

confidence: 99%

Computer vision based eyewear selector

Déniz

Castrillón

Lorenzo

et al. 2010

J. Zhejiang Univ. - Sci. C

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Abstract:The widespread availability of portable computing power and inexpensive digital cameras are opening up new possibilities for retailers in some markets. One example is in optical shops, where a number of systems exist that facilitate eyeglasses selection. These systems are now more necessary as the market is saturated with an increasingly complex array of lenses, frames, coatings, tints, photochromic and polarizing treatments, etc. Research challenges encompass Computer Vision, Multimedia and Human-Computer Interaction. Cost factors are also of importance for widespread product acceptance. This paper describes a low-cost system that allows the user to visualize different glasses models in live video. The user can also move the glasses to adjust its position on the face. The system, which runs at 9.5 frames/s on general-purpose hardware, has a homeostatic module that keeps image parameters controlled. This is achieved by using a camera with motorized zoom, iris, white balance, etc. This feature can be specially useful in environments with changing illumination and shadows, like in an optical shop. The system also includes a face and eye detection module and a glasses management module.

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AuRA: principles and practice in review

Cited by 227 publications

References 34 publications

Development of Intelligent Hybrid Architecture for Autonomous Uav.

Development of Intelligent Hybrid Architecture for Autonomous Uav.

Toward a Multi-Robot Coordination Formalism

Computer vision based eyewear selector

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