Proceedings of the IEEE International Conference on Intelligent Agent Technology

J. Liu; B. Faltings; Matthias Klusch; C. Liu (Hrsg.)

IEEE/WIC/ACM International Conference on Intelligent Agent Technology (IAT-2003), October 13-16, Halifax, Canada, IEEE Press, 2003.


This paper presents a hybrid architecture for autonomous robot navigation. It includes a deliberative layer that hierarchically extracts a global path from a geometrical-topological model of the environment. This path is decomposed into a set of partial goals. Then, a new case-based reasoning based reactive layer capable of learning new local navigation strategies moves from each partial goal to the next. The architecture has been successfully tested in real dynamic environments.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz