An advanced control architecture for autonomous mobile robots: modeling intentions and persuasions

P. Baroni, D. Fogli, G. Guida, S. Mussi

Proc. of 4th ICARCV International Conference on Control, Automation, Robotics and Vision, Singapore, 1996, 853-857



The aim of this paper is to propose a novel control architecture for autonomous mobile robots, based on the explicit representation of robot intentions and persuasions. The proposal relies on two basic assumptions: i) robot mental states (namely intentions and persuasions) are modeled as active autonomous entities; ii) the robot control architecture is conceived as a multi-agent system, where mental entities communicate, cooperate and conflict, giving rise, through their interactions, to a globally intelligent behavior. The paper discusses first the basic motivations for the proposal, introducing the concept of active mental entity and characterizing intentions and persuasions. Then a detailed description of the organization of the control architecture is provided, together with an outline of its operation. The potential of the proposed architecture is finally demonstrated through an application example concerning a department mail-delivery robot.

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