The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
An Architecture for Autonomy
Open accessAbstract
An autonomous robot offers a challenging and ideal field for the study of intelligent architectures. Autonomy within a rational be havior could be evaluated by the robot's effectiveness and robust ness in carrying out tasks in different and ill-known environments. It raises major requirements on the control architecture. Further more, a robot as a programmable machine brings up other archi tectural needs, such as the ease and quality of its specification and programming. This article describes an integrated architecture that allows a mobile robot to plan its tasks—taking into account temporal and domain constraints, to perform corresponding actions and to con trol their execution in real-time—while being reactive to possible events. The general architecture is composed of three levels: a de cision level, an execution level, and a functional level. The latter is composed of modules that embed the functions achieving sensor- data processing and effector control. The decision level is goal and event driven, and it may have several layers, according to the application; their basic structure is a planner/supervisor pair that enables the architecture to integrate deliberation and reaction. The proposed architecture relies naturally on several representa tions, programming paradigms, and processing approaches, which meet the precise requirements that are specified for each level. The authors have developed proper tools to meet these specifications and implement each level of the architecture: a temporal planner, IxTeT; a procedural system for task refinement and supervision, PRS; Kheops for the reactive control of the functional level, and G en oM for the specification and integration of modules at that level Validation of the temporal and logical properties of the reactive parts of the system, through these tools, are presented. Instances of the proposed architecture have been integrated into several indoor and outdoor robots. Examples from real-world ex perimentations are provided and analyzed.
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SHARP effectively detected and analyzed potential spacecraft and ground systems problems by performing real-time analysis of engineering telemetry.
“By performing real-time analysis of spacecraft and ground data systems engineering telemetry, SHARP effectively detected and analyzed potential spacecraft and ground systems problems.”
From Applications and Challenges of Artificial Intelligence in Space Missions (2024) · cites this paper as [121]
SHARP, an AI-based automated system, was designed to automate health and status analysis for multi-mission spacecraft and ground data systems operations.
“Due to the limitations of existing technology, Spacecraft Health Automated Reasoning Prototype (SHARP), a new automated system based on AI technology was designed to automate health and status analysis for multi-mission spacecraft and ground data systems operations.”
From Applications and Challenges of Artificial Intelligence in Space Missions (2024) · cites this paper as [121]
Citations
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A robust layered control system for a mobile robot
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Applications and Challenges of Artificial Intelligence in Space Missions
Oche, P. A., Ewa, G. A., & Ibekwe, N. (2024) · IEEE Access · doi:10.1109/access.2021.3132500 · Cited by 68
“These three layers are often referred to as deliberative, executive, and functional layers; which can be distinguished in terms of their abstraction from the hardware and their response-time requirements [120].”
Background
Metadata
- Authors
- Alami, R., Chatila, R., Fleury, S., Ghallab, M., & Ingrand, F.
- Affiliations
- Centre National de la Recherche Scientifique (FR)
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1998-04
- Volume
- 17
- Issue
- 4
- Pages
- 315-337
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2090161303
- Cited by
- 561
- References
- 1
- Citations by year
- 2026: 4 · 2025: 10 · 2024: 13 · 2023: 13 · 2022: 18 · 2021: 15 · 2020: 15 · 2019: 18 · 2018: 14 · 2017: 22 · 2016: 19 · 2015: 22 · 2014: 14 · 2013: 23 · 2012: 35
- FWCI
- 16.75
- Type
- journal article
- Language
- en
- Open access
- Locations
- The International Journal of Robotics Research (publishedVersion)
- HAL (submittedVersion, other-oa)
- Topics
- Physical Sciences › Computer Science › Artificial Intelligence › AI-based Problem Solving and Planning
- Physical Sciences › Engineering › Control and Systems Engineering › Robotics and Automated Systems
- Physical Sciences › Computer Science › Software › Advanced Software Engineering Methodologies
- Keywords
- autonomous robots, task planning, temporal planning, reactive control, multi-level architecture, event-triggered control, sensor data processing, real-time execution
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