A hybrid architecture for autonomous navigation using a CBR reactive layer

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	Similar Articles Articles by C. Urdiales Articles by E.J. P?rez Articles by F. Sandoval Articles by J. V?zquez-Salceda

2003 IEEE/WIC International Conference on Intelligent Agent Technology (IAT'03)

Halifax, Canada

October 13-October 17

ISBN: 0-7695-1931-8

	ASCII Text	x
	C. Urdiales, E.J. P?rez, F. Sandoval, J. V?zquez-Salceda, "A hybrid architecture for autonomous navigation using a CBR reactive layer," Intelligent Agent Technology, IEEE / WIC / ACM International Conference on, pp. 225, 2003 IEEE/WIC International Conference on Intelligent Agent Technology (IAT'03), 2003.

	BibTex	x
	@article{ 10.1109/IAT.2003.1241072, author = {C. Urdiales and E.J. P?rez and F. Sandoval and J. V?zquez-Salceda}, title = {A hybrid architecture for autonomous navigation using a CBR reactive layer}, journal ={Intelligent Agent Technology, IEEE / WIC / ACM International Conference on}, volume = {0}, year = {2003}, isbn = {0-7695-1931-8}, pages = {225}, doi = {http://doi.ieeecomputersociety.org/10.1109/IAT.2003.1241072}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Intelligent Agent Technology, IEEE / WIC / ACM International Conference on TI - A hybrid architecture for autonomous navigation using a CBR reactive layer SN - 0-7695-1931-8 SP EP A1 - C. Urdiales, A1 - E.J. P?rez, A1 - F. Sandoval, A1 - J. V?zquez-Salceda, PY - 2003 KW - null VL - 0 JA - Intelligent Agent Technology, IEEE / WIC / ACM International Conference on ER -

C. Urdiales, University of M?laga

E.J. P?rez, University of M?laga

F. Sandoval, University of M?laga

J. V?zquez-Salceda, Utrecht University

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/IAT.2003.1241072

This paper presents a hybrid architecture for autonomous robot navigation. It includes a deliberative layer that hierarchically extracts a global path from a geometrical-topological model of the environment. This path is decomposed into a set of partial goals. Then, a new case-based reasoning based reactive layer capable of learning new local navigation strategies moves from each partial goal to the next. The architecture has been successfully tested in real dynamic environments.

Citation:

C. Urdiales, E.J. P?rez, F. Sandoval, J. V?zquez-Salceda, "A hybrid architecture for autonomous navigation using a CBR reactive layer," iat, pp.225, 2003 IEEE/WIC International Conference on Intelligent Agent Technology (IAT'03), 2003

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