Minimalist mobile robotics: a colony-style architecture for an artificial creature

Abstract

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