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ViRbot: A System for the Operation of Mobile Robots

  • Jesus Savage
  • Adalberto LLarena
  • Gerardo Carrera
  • Sergio Cuellar
  • David Esparza
  • Yukihiro Minami
  • Ulises Peñuelas
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5001)

Abstract

This paper describes a robotics architecture, the ViRbot, used to control the operation of service mobile robots. It accomplish the required commands using AI actions planning and reactive behaviors with a description of the working environment. In the ViRbot architecture the actions planner module uses Conceptual Dependency (CD) primitives as the base for representing the problem domain. After a command is spoken to the mobile robot a CD representation of it is generated, a rule based system takes this CD representation, and using the state of the environment generates other subtasks represented by CDs to accomplish the command. By using a good representation of the problem domain through CDs and a rule based system as an inference engine, the operation of the robot becomes a more tractable problem and easier to implement. The ViRbot system was tested in the Robocup@Home [1] category in the Robocup competition at Bremen, Germany in 2006 and in Atlanta in 2007, where our robot TPR8, obtained the third place in this category.

Keywords

Mobile Robot Rule Base System Unscented Kalman Filter Speech Recognition System Movement Planner 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Jesus Savage
    • 1
  • Adalberto LLarena
    • 1
  • Gerardo Carrera
    • 1
  • Sergio Cuellar
    • 1
  • David Esparza
    • 1
  • Yukihiro Minami
    • 1
  • Ulises Peñuelas
    • 1
  1. 1.Bio-Robotics Laboratory, Department of Electrical EngineeringUniversidad Nacional Autónoma de México, Unam 

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