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AIPS
2000

Vision-Servoed Localization and Behavior-Based Planning for an Autonomous Quadruped Legged Robot

13 years 5 months ago
Vision-Servoed Localization and Behavior-Based Planning for an Autonomous Quadruped Legged Robot
Planning for real robots to act in dynamic and uncertain environments is a challenging problem. A complete model of the world is not viable and an integration of deliberation and behavior-based reactive planning is most appropriate for goal achievement and uncertainty handling. This paper reports on our successful development of the integration of perception, planning, and action for the Sony quadruped legged robots. We address the particular robotic soccer task, as Sony provided the robots to us specifically for the RoboCup robotic soccer competitions. The quadruped legged robots are fully autonomous, so must have onboard vision, localization and agent behavior. We brie y present our perception algorithm that does automated color classi cation and tracks colored blobs in real time. We then brie y introduce our Sensor Resetting Localization (SRL) algorithm which is an extension of Monte Carlo Localization. SRL is robust to movement modelling errors and to limited computational power. ...
Manuela M. Veloso, Elly Winner, Scott Lenser, Jame
Added 01 Nov 2010
Updated 01 Nov 2010
Type Conference
Year 2000
Where AIPS
Authors Manuela M. Veloso, Elly Winner, Scott Lenser, James Bruce, Tucker R. Balch
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