Nick Hawes, Hendrik Zender, Kristoffer Sjoo, Michael Brenner, Geert-Jan Kruijff, Patric Jensfelt.
Planning and Acting with an Integrated Sense of Space.
In Proceedings of the 1st International Workshop on Hybrid Control of Autonomous Systems -- Integrating Learning, Deliberation and Reactive Control (HYCAS), pages 25--32.
The paper describes PECAS, an architecture for
intelligent systems, and its application in the Ex-
plorer, an interactive mobile robot. PECAS is a
new architectural combination of information fu-
sion and continual planning. PECAS plans, inte-
grates and monitors the asynchronous ï¬ow of infor-
mation between multiple concurrent systems. In-
formation fusion provides a suitable intermediary
to robustly couple the various reactive and delib-
erative forms of processing used concurrently in
the Explorer. The Explorer instantiates PECAS
around a hybrid spatial model combining SLAM,
visual search, and conceptual inference. This paper
describes the elements of this model, and demon-
strates on an implemented scenario how PECAS
provides means for ï¬exible control.
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