Inconsistencies Evaluation Mechanisms for an Hybrid Control Architecture with Adaptive Autonomy

Bastien Durand 1 Karen Godary-Dejean 1 Lionel Lapierre 1 Didier Crestani 1
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents a set of mechanisms allowing the detection of control architecture inconsistencies, in the context of autonomous mobile robotics. This approach integrates an observation level into the structure of the control architecture to monitor and analyze the internal state of the robot and detect inconsistencies. These data are processed and the most pertinent information are sent to the Human supervisor and/or to a decision level which can adjust the robot autonomy according to the identified problem. These mechanisms have been implemented using architectural concepts previously developed at LIRMM. Based on these developments, adaptive hybrid control architecture is currently under development.
Keywords : Hybrid control architecture mobile robot inconsistency detection adjustable/adaptive autonomy
Type de document :
Communication dans un congrès
CAR: Control Architectures of Robots, Apr 2009, Toulouse, France. 4th National Conference on Control Architectures of Robots, 2009
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Soumis le : mardi 26 mai 2009 - 15:08:31
Dernière modification le : jeudi 24 mai 2018 - 15:59:23
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Bastien Durand, Karen Godary-Dejean, Lionel Lapierre, Didier Crestani. Inconsistencies Evaluation Mechanisms for an Hybrid Control Architecture with Adaptive Autonomy. CAR: Control Architectures of Robots, Apr 2009, Toulouse, France. 4th National Conference on Control Architectures of Robots, 2009. 〈lirmm-00386063〉

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