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Integrated Plan-Based Control of Autonomous Robots in Human Environments
September/October 2001 (vol. 16 no. 5)
pp. 56-65

The authors present recent extensions to the Rhino robot. They identify computational principles enabling Rhino to accomplish complex, diverse, and dynamically changing tasks in human working environments. These principles include plan-based high-level control, probabilistic reasoning, plan transformation, and context and resource-adaptive reasoning. They describe how Rhino's software modules incorporate these principles and discuss long-term experiments demonstrating their approach.

Citation:
Michael Beetz, Tom Arbuckle, Thorsten Belker, Armin B. Cremers, Dirk Schulz, Maren Bennewitz, Wolfram Burgard, Dirk Hähnel, Dieter Fox, Henrik Grosskreutz, "Integrated Plan-Based Control of Autonomous Robots in Human Environments," IEEE Intelligent Systems, vol. 16, no. 5, pp. 56-65, Sept.-Oct. 2001, doi:10.1109/5254.956082
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