Lessons learned in integrating sensing into autonomous mobile robot architectures

Abstract

Abstract This article discusses the impact of sensing on each aspect of the design of the CSM autonomous mobile robot architecture, in particular, the overall control scheme, coordination of behaviours, and representation of different types of knowledge. The CSM/ deliberative reactive system uses three novel mechanisms for maintaining robust perception: a perceptual schema for behavioural sensing, a sensing manager to globally allocate sensing resources, and abstract navigation behaviours to coordinate diverse sensing demands in addition to simplifying motor control. Examples of the operation of each are taken from software developed for the two CSM mobile robots operating in indoor and outdoor task domains.