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IEAAIE
2004
Springer

The Cognitive Controller: A Hybrid, Deliberative/Reactive Control Architecture for Autonomous Robots

9 years 9 months ago
The Cognitive Controller: A Hybrid, Deliberative/Reactive Control Architecture for Autonomous Robots
Abstract. The Cognitive Controller (CoCo) is a new, three-tiered control architecture for autonomous agents that combines reactive and deliberative components. A behaviour-based reactive module ensures that the agent can gracefully handle the various real-time challenges of its environment, while a logic-based deliberative module endows the agent with the ability to “think ahead”, performing more complex high-level tasks that require planning. A plan execution and monitoring module establishes an advisor-client relationship between the deliberative and reactive modules. We demonstrate CoCo in the context of space robotics—specifically the control of a vision-guided robotic manipulator that can autonomously capture a free-flying satellite in the presence of unforeseen mission anomalies.
Faisal Qureshi, Demetri Terzopoulos, Ross Gillett
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where IEAAIE
Authors Faisal Qureshi, Demetri Terzopoulos, Ross Gillett
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