A Colony Architecture for an Artificial Creature
This report describes a working autonomous mobile robot whose only goal is to collect and return empty soda cans. It operates in an unmodified office environment occupied by moving people. The robot is controlled by a collection of over 40 independent "behaviors'' distributed ov...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6982 |
| _version_ | 1826206857873588224 |
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| author | Connell, Jonathan |
| author_facet | Connell, Jonathan |
| author_sort | Connell, Jonathan |
| collection | MIT |
| description | This report describes a working autonomous mobile robot whose only goal is to collect and return empty soda cans. It operates in an unmodified office environment occupied by moving people. The robot is controlled by a collection of over 40 independent "behaviors'' distributed over a loosely coupled network of 24 processors. Together this ensemble helps the robot locate cans with its laser rangefinder, collect them with its on-board manipulator, and bring them home using a compass and an array of proximity sensors. We discuss the advantages of using such a multi-agent control system and show how to decompose the required tasks into component activities. We also examine the benefits and limitations of spatially local, stateless, and independent computation by the agents. |
| first_indexed | 2024-09-23T13:39:21Z |
| id | mit-1721.1/6982 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:39:21Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/69822019-04-10T11:52:16Z A Colony Architecture for an Artificial Creature Connell, Jonathan This report describes a working autonomous mobile robot whose only goal is to collect and return empty soda cans. It operates in an unmodified office environment occupied by moving people. The robot is controlled by a collection of over 40 independent "behaviors'' distributed over a loosely coupled network of 24 processors. Together this ensemble helps the robot locate cans with its laser rangefinder, collect them with its on-board manipulator, and bring them home using a compass and an array of proximity sensors. We discuss the advantages of using such a multi-agent control system and show how to decompose the required tasks into component activities. We also examine the benefits and limitations of spatially local, stateless, and independent computation by the agents. 2004-10-20T20:12:11Z 2004-10-20T20:12:11Z 1989-09-01 AITR-1151 http://hdl.handle.net/1721.1/6982 en_US AITR-1151 12455804 bytes 9719358 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Connell, Jonathan A Colony Architecture for an Artificial Creature |
| title | A Colony Architecture for an Artificial Creature |
| title_full | A Colony Architecture for an Artificial Creature |
| title_fullStr | A Colony Architecture for an Artificial Creature |
| title_full_unstemmed | A Colony Architecture for an Artificial Creature |
| title_short | A Colony Architecture for an Artificial Creature |
| title_sort | colony architecture for an artificial creature |
| url | http://hdl.handle.net/1721.1/6982 |
| work_keys_str_mv | AT connelljonathan acolonyarchitectureforanartificialcreature AT connelljonathan colonyarchitectureforanartificialcreature |