A General-Purpose Architecture to Control Mobile Robots

Abstract

Abstract—Complex robotic tasks require the coordination of a considerable amount of skills. This is generally achieved generating and ex-ecuting action plans that fulfill the precon-ditions of the given objective. These tasks can be highly dynamic, since the appearance of new objects or unexpected situations is a constant during the plan execution. In this context, robot control systems require the ca-pability of managing a suitable world model (creating, removing or retyping dynamically objects as a result of the plan execution), and the capability of monitoring and replanning when unexpected situations are detected. In this paper we introduce a general-purpose architecture for autonomous mobile robots providing these features. The architecture al-lows to generate planning applications since it integrates planning, re-planning, monitoring and learning capabilities, and, at the same time, manages a consistent graph-like world model. Finally, we present some preliminary results of the deployment of such architecture in an advertisement promoting robot domain. Index Terms—cognitive architectures, au-tonomous robots, planning