Abstract
Envisioned robots for rural and outdoor activities will navigate in semi-structured environments and execute intelligent tasks with the robotic actuators they carry. Most actions will have to be done avoiding a stop of the mobile. Two problems generated by such a concept of machine are addressed in this paper: how to navigate in a partially known and evolving environment, and how to combine robotic arm motions with its supporting mobile platfonn ones. Tests are made on the specially designed and built agricultural mobile robot O'TOMAT.
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