DAMN: A Distributed Architecture for Mobile Navigation

Juilo K. Rosenblatt

An architecture is presented where a collection of distributed task-achieving modules, or behaviors, cooperatively determine a mobile robot’s path by expressing their preferences for each of various possible actions. An arbiter then performs command fusion and selects that action which best satisfies the prioritized goals of the system, as expressed by the behaviors and their associated weights. Examples of implemented systems are given, and future research directions in command fusion are discussed.


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