DAMN: a distributed architecture for mobile navigation
An architecture is presented in which distributed task-achieving modules, or behaviours, cooperatively determine a mobile robot's path by voting 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 these votes, without the need to average commands. Command fusion allows multiple goals and
constraints to be considered simultaneously. Examples of implemented systems are given, and future research directions in command fusion are discussed.
Keywords: ARBITRATION; BEHAVIOURS; COMMAND FUSION; DISTRIBUTED ARCHITECTURE; MOBILE ROBOTS; VOTING
Document Type: Research Article
Publication date: 01 April 1997
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