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