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In this paper, we present a simple approach to interleaving planning and execution based on the idea of making simplifying assumptions. Since assumptions can be tragically wrong, this assumptive approach must ensure both that the robot does not believe it has solved a problem when it has not and...
The European Space Agency ESA is currently preparing the two deep space missions, Huygens and Rosetta. This paper reviews the related requirements for autonomous operations in a poorly known environment. While for Huygens emphasis is on the control of the descent through Titan's atmosphere, for...
This paper introduces an efficient steering control method for the articulated body mobile robot “Koryu-II (KR-II)”. KR-II is a real robot, composed of six cylindrical segments linked in series and has a long snake-like appearance. The main issue on KR-II's steering control is, given from a...
This paper is concerned with the implications of limited computational resources and uncertainty on the design of autonomous systems. To address this problem, we redefine the principal role of sensor interpretation and planning processes. Following Agre and Chapman's plan-as-communication...
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