The Distributed architecture for mobile navigation (DAMN) is a mobile robot architecture developed by at Carnegie Mellon University. DAMN consists of a collection of independently operating behaviors such as "go-to-goal" and "avoid obstacle", and an arbiter. The arbiter generates a set of feasible action possibilities for the robot over a short time horizon, and the behaviours vote on (i.e. express utility for) these candidate actions. Votes may be weighted by a mode manager. The Pareto optimal action is then sent to the vehicle controller. One method of obtaining votes is for behaviours to asynchronously update a utility map over the configuration space of the robot. The arbiter then overlays paths resulting from action candidates onto the map, and samples utilities along the paths. This
Property | Value |
---|---|
dbo:abstract |
|
dbo:wikiPageID |
|
dbo:wikiPageLength |
|
dbo:wikiPageRevisionID |
|
dbo:wikiPageWikiLink | |
dbp:wikiPageUsesTemplate | |
dcterms:subject | |
gold:hypernym | |
rdf:type | |
rdfs:comment |
|
rdfs:label |
|
owl:sameAs | |
prov:wasDerivedFrom | |
foaf:isPrimaryTopicOf | |
is dbo:wikiPageDisambiguates of | |
is dbo:wikiPageRedirects of | |
is dbo:wikiPageWikiLink of | |
is foaf:primaryTopic of |