Experience with a task control architecture for mobile robots

Abstract: "This paper presents a general-purpose architecture for controlling mobile robots, and describes a working mobile manipulator which uses the architecture to operate in a dynamic and uncertain environment. The target of this work is to develop a distributed robot architecture for planning, execution, monitoring, exception handling, and multiple task coordination. We report our progress to date on the architecture development and the performance of the working robot. In particular, we discuss temporal reasoning, execution monitoring, and context-dependent exception handling."