Real Time Control for Autonomous Mobile Robots

Control of autonomous mobile robots in dynamical environments is interesting from a cognitive point of view as well as under application view points. Stimulus response controls are often favored for fast reactions to the environment. On the other hand, goals and plans are needed to guide long term behaviour by deliberative control. Layered architectures are used for combination, but they inherit advantages as well as problems from both approaches. The paper prosposes the Double Pass Architecture with hierarchically structures options/behaviours providing fast reactions on all levels.Peer Reviewe