An Architecture for the Rapid Development of Robot Behaviors

Jeremy Stolarz and Paul Rybski
master's thesis, tech. report CMU-RI-TR-07-16, Robotics Institute, Carnegie Mellon University, May, 2007


Download
  • Adobe portable document format (pdf) (951KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We have developed a mobile platform based on the principles of modularity and rapid development for studies robotics. Through behavior-based robot control and a unified sensor/actuator architecture we abstract away the details of communicating with the physical hardware, allowing the behavior writer to focus on and more easily develop higher-level controls. Adding to the capabilities of our robot, we have implemented a localization algorithm based on likelihood fields using a laser. Finally, we demonstrate the utility of the FeatureSet architecture in a multi-modal person following behavior which, in addition to fusing laser and vision data to track people, conditions possible tracks using voice feedback from the user.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Quality of Life Technology Center
Associated Lab(s) / Group(s): Human-Robot Interaction Group

Text Reference
Jeremy Stolarz and Paul Rybski, "An Architecture for the Rapid Development of Robot Behaviors," master's thesis, tech. report CMU-RI-TR-07-16, Robotics Institute, Carnegie Mellon University, May, 2007

BibTeX Reference
@mastersthesis{Stolarz_2007_5990,
   author = "Jeremy Stolarz and Paul Rybski",
   title = "An Architecture for the Rapid Development of Robot Behaviors",
   booktitle = "",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "May",
   year = "2007",
   number= "CMU-RI-TR-07-16",
   address= "Pittsburgh, PA",
}