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

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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.

J. Stolarz and P. 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.

@mastersthesis{Stolarz_2007_5990,
   author = "Jeremy Stolarz and Paul Rybski",
   title = "An Architecture for the Rapid Development of Robot Behaviors",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "May",
   year = "2007",
   address = "Pittsburgh, PA"
}