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Publication

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.

Abstract

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.