Interleaving Planning and Control of Mobiles Robots in Urban Environments Using Road-Map

  • Guillaume Lozenguez
  • Lounis Adouane
  • Aurélie Beynier
  • Abdel-Illah Mouaddib
  • Philippe Martinet
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)


This paper presents a robot solution that allows to automatically reach a set of goals attributed to a robot. The challenge is to design autonomous robots assigned to perform missions without a predefined plan. We address the stochastic salesman problem where the goal is to visit a set of points of interest. A stochastic Road-Map is defined as a topological representation of an unstructured environment with uncertainty on the path achievement. The Road-Map allows us to split deliberation and reactive control. The proposed decision making uses a computation of Markov Decision Processes (MDPs) in order to plan all the reactive tasks to perform while there are goals not yet reached. Finally, from a brief explanation on how the approach could be extend to multi-robot missions, experiments in real conditions permit to evaluate the proposed architecture for multi-robot stochastic salesmen missions.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Elfe, A.: Sonar-based real-world mapping and navigation. Robotics and Automation 3, 249–265 (1987)CrossRefGoogle Scholar
  2. 2.
    Kuipers, B., Byun, Y.-T.: A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations. Journal of Robotics and Autonomous Systems 8, 47–63 (1991)CrossRefGoogle Scholar
  3. 3.
    Goldman, C.V., Zilberstein, S.: Decentralized control of cooperative systems: Categorization and complexity analysis. Journal of Artificial Intelligence Research 22 (2004)Google Scholar
  4. 4.
    Burgard, W., Moors, M., Stachniss, C., Schneider, F.: Coordinated multi-robot exploration. IEEE Transactions on Robotics 21 (2005)Google Scholar
  5. 5.
    Alami, R., Chatila, R., Fleury, S., Ghallab, M., Ingrand, F.: An architecture for autonomy. Journal of Robotics Research 17(4), 315–337 (1998)CrossRefGoogle Scholar
  6. 6.
    Volpe, R., Nesnas, I., Estlin, T., Mutz, D., Petras, R., Das, H.: The claraty architecture for robotic autonomy. In: Aerospace Conference, vol. 1, pp. 121–132 (2001)Google Scholar
  7. 7.
    Mourioux, G., Novales, C., Poisson, G.: Control robot by a generic control architecture. In: IEEE International Conference on Intelligent Robots and Systems, pp. 3050–3055 (2007)Google Scholar
  8. 8.
    Thrun, S.: Learning metric-topological maps for indoor mobile robot navigation. Artificial Intelligence 99(1), 21–71 (1998)MATHCrossRefGoogle Scholar
  9. 9.
    Ulrich, I., Nourbakhsh, I.: Appearance-based place recognition for topological localization. In: International Conference on Robotics and Automation, vol. 2, pp. 1023–1029 (2000)Google Scholar
  10. 10.
    Adouane, L.: Hybrid and safe control architecture for mobile robot navigation. In: Autonomous Robot Systems and Competitions (2009)Google Scholar
  11. 11.
    Alterovitz, R., Siméon, T., Goldberg, K.: The stochastic motion roadmap: A sampling framework for planning with markov motion uncertainty. In: Robotics: Science and Systems (2007)Google Scholar
  12. 12.
    Puterman, M.L.: Markov Decision Processes: Discrete Stochastic Dynamic Programming. John Wiley & Sons, Inc. (1994)Google Scholar
  13. 13.
    Lozenguez, G., Adouane, L., Beynier, A., Martinet, P., Mouaddib, A.-I.: Map partitioning to approximate an exploration strategy in mobile robotics. In: Advances on Practical Applications of Agents and Multiagent Systems, vol. 88, pp. 63–72 (2011)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Guillaume Lozenguez
    • 1
    • 2
  • Lounis Adouane
    • 2
  • Aurélie Beynier
    • 3
  • Abdel-Illah Mouaddib
    • 1
  • Philippe Martinet
    • 2
    • 4
  1. 1.GREYCCaen CedexFrance
  2. 2.Institut PascalAubiere CedexFrance
  3. 3.LIP6, University Pierre & Marie CurieParisFrance
  4. 4.IRCCYNNantesFrance

Personalised recommendations