Abstract
In this paper the use of a Procedural Expert System (PES) for the control of a robot in a partly-structured environment is presented. Performing a task in a partly-structured environment requires a certain level of autonomy of the robot. One of the key issues needed to realize this autonomy are techniques to monitor the robot activities and to handle exceptions. The control system must be reactive to new situations. Implementation architecture and realization with PES of robot control based on the Exception Handling Model is described. The experimental results show that the event-driven mechanisms needed for the control of the robot can be adequately realized with the reactive behaviour of PES.
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© 1991 Springer-Verlag Berlin Heidelberg
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Meijer, G.R., Mai, T.L., Gaussens, E., Hertzberger, L.O., Arlabosse, F. (1991). Robot Control with Procedural Expert System. In: Jordanides, T., Torby, B. (eds) Expert Systems and Robotics. NATO ASI Series, vol 71. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-76465-3_12
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DOI: https://doi.org/10.1007/978-3-642-76465-3_12
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