🚀 go-pugleaf

In article <1992Dec15.143814.2836@solaris.rz.tu-clausthal.de> vellmer@iw.uni-hannover.de (Ulrich Vellmer) writes:
   i'm looking for references about concepts of 'intelligent' guide and control
   systems for vehicles (especially autonomous underwater vehicle (auv), remotely
   operated vehicle (rov)).

Some info with which  to start your search:

Bonasso describes a three-layer, subsumption-like architecture he calls
``layered competences'' (\cite{bonasso90} \cite{bonasso91a}
\cite{bonasso91b}).  He allows more communication between layers than the
subsumption architecture and the circuits operate synchronously (due to the
use of REX/GAPPS \cite{kaelbling87}).  Perception at every level is task-directed.

They developed a pilot's assistant for an underwater remotely piloted vehicle
which takes heading commands from a joystick and moves the vehicle in the
indicated direction, avoiding obstacles and holding its 3-D position once on
station.  The architecture was also demonstrated on land vehicles (a Hero and
a Denning, \cite{bonasso91b}).  The original description of the architecture
was in \cite{bonasso90}.

The citations are:

@string{bonasso = "R. Peter Bonasso"}
@string{kaelbling = "Leslie Pack Kaelbling"}

@InProceedings{bonasso90,
author =	bonasso,
title = 	"Creature {CO-OP}: Achieving Robust Remote Operations with a
Community of Low-cost Robots",
booktitle = 	"Proceedings, Fifth Conf. on AI for Space Applications",
year = 		1990,
}

@InProceedings{bonasso91a,
author =	bonasso,
title = 	"Underwater Experiments using a Reactive System for Autonomous Vehicles",
booktitle = 	aaai,
year = 		1991,
pages = 	"794-800",
}

@inproceedings{bonasso91b,
author = 	bonasso,
title = 	"Integrating Reaction Plans and Layered Competences through
Synchronous Control",
booktitle = 	ijcai,
year = 		1991,
}

@InProceedings{kaelbling87,
author = 	kaelbling,
title =		"An Architecture for Intelligent Reactive Systems",
booktitle =	"Proceedings of the 1986 workshop: Reasoning about actions and plans",
year =		1987,
pages = 	"395-410", 
editor = 	" Michael P. Georgeff and Amy L. Lansky",
publisher = 	" M. Kaufmann Publishers",
}
--
Michael Cleary                            Internet: cleary@cs.northeastern.edu
Office: College of Computer Science, 53CN              Phones:  (617) 437-4607
Lab:    Robotic & Vision Systems Lab, 357DA                     (617) 437-5242
Northeastern University,  360 Huntington Avenue,   Boston,  Ma.   02115    USA