The Cognitive Controller: A Hybrid, Deliberative/Reactive Control Architecture for Autonomous Robots View Full Text


Ontology type: schema:Chapter      Open Access: True


Chapter Info

DATE

2004

AUTHORS

Faisal Qureshi , Demetri Terzopoulos , Ross Gillett

ABSTRACT

The Cognitive Controller (CoCo) is a new, three-tiered control architecture for autonomous agents that combines reactive and deliberative components. A behaviour-based reactive module ensures that the agent can gracefully handle the various real-time challenges of its environment, while a logic-based deliberative module endows the agent with the ability to “think ahead”, performing more complex high-level tasks that require planning. A plan execution and monitoring module establishes an advisor-client relationship between the deliberative and reactive modules. We demonstrate CoCo in the context of space robotics—specifically the control of a vision-guided robotic manipulator that can autonomously capture a free-flying satellite in the presence of unforeseen mission anomalies. More... »

PAGES

1102-1111

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-540-24677-0_113

DOI

http://dx.doi.org/10.1007/978-3-540-24677-0_113

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1026008509


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