Coordinaton of Action and Perception in a Surveillance Robot

This paper describes a system in which twin hierarchies for navigation and perception are controlled by a knowledge based At the top level, these hierarchies contain collections procedures which implement the skills of the system in locomotion and spatial reasoning. The structure of these hierarchies, and their integration is described. Perception and navigation are controlled and monitored by a knowledge based supervisor. The supervisor decomposes a mission plan into subgoals and then uses the perception and navigation procedures to accomplish these subgoals. The organization of the rule base for the supervisor is described, and a mission planning is illustrated with a simple example.