Dr Nick Hawes

[hawesetal09hycas] 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. July 2009. [pdf] [bib]
Abstract. 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 flow 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 flexible control.
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