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Rather than using traditional artificial intelligence techniques, which are ineffective when applied to the complexities of real-world robot navigaiton, Connell describes a methodology of reconstructing intelligent robots with distributed, multiagent control systems. After presenting this methodology, hte author describes a complex, robust, and successful application-a mobile robot "can collection machine" which operates in an unmodified offifce environment occupied by moving people.

Tabla de contenidos provista por Syndetics

• Foreword
• Preface
• 1 Introduction
• 1.1 The Task
• 1.2 Animal Stories
• 1.3 Design Principles
• 1.4 Contributions
• 1.5 Roadmap
• 2 Architecture
• 2.1 What we Use
• 2.2 The Subsumption Architecture
• 2.3 The Multiprocessor Implementation
• 2.4 Related Architectures
• 3 Manipulation
• 3.1 Hardware
• 3.2 Sensors
• 3.3 Controlling the Hand
• 3.4 Controlling the Arm Locally
• 3.5 Controlling the Arm Globally
• 3.6 Controlling the Base
• 3.7 Experiments
• 4 Vision
• 4.1 Hardware
• 4.2 Image Processing
• 4.3 Visual Guidance
• 4.4 Experiments
• 5 Navigation
• 5.1 Sensors
• 5.2 Tactical Navigation
• 5.3 Strategic Navigation
• 5.4 Experiments
• 6 Discussion
• 6.1 Spatial Representation
• 6.2 Distributed Systems
• 6.3 Limitations
• 6.4 Extending Arbitration
• 6.5 Learning
• 6.6 Conclusion
• Bibliography
• Index