A. Ranganathan and S. Koenig. A Reactive Robot Architecture with Planning on Demand. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pages 1462-1468, 2003.

Abstract: In this paper, we describe a reactive robot architecture that uses fast replanning methods to avoid the shortcomings of reactive navigation, such as getting stuck in box canyons or in front of small openings. Our robot architecture differs from other robot architectures in that it gives planning progressively greater control of the robot if reactive navigation continues to fail, until planning controls the robot directly. Our first experiments on a Nomad robot and in simulation demonstrate that our robot architecture promises to simplify the programming of reactive robot architectures and results in robust navigation, smooth trajectories, and reasonably good navigation performance.

Download the paper in pdf.

Many publishers do not want authors to make their papers available electronically after the papers have been published. Please use the electronic versions provided here only if hardcopies are not yet available. If you have comments on any of these papers, please send me an email! Also, please send me your papers if we have common interests.

This page was automatically created by a bibliography maintenance system that was developed as part of an undergraduate research project, advised by Sven Koenig.