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Mission Planning and Execution Control for Intervention Robots

Abstract : We describe in this paper a complete architecture for action planning and execution for intervention robots. The architecture is based on a decomposition of the robotic system into a Ground Station that embeds the functions for mission planning and teleprogramming, and an on-board system on the remote robot. This last system is decomposed into two main levels: a "decisional level" that interprets the mission according to the actual execution context and controls its execution by a "functional level" embedding the necessary processings for action and perception. The decisional level makes use of PRS, a procedural reasoning system that will be presented.
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Submitted on : Tuesday, January 15, 2019 - 12:18:27 PM
Last modification on : Wednesday, June 1, 2022 - 4:45:33 AM
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  • HAL Id : hal-01981902, version 1


Raja Chatila, Félix Ingrand, Rachid Alami. Mission Planning and Execution Control for Intervention Robots. Undersea Robotics and Intelligent Control Workshop, 1995, Lisbon, Portugal. ⟨hal-01981902⟩



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