Abstract
Complex tasks are usually described as high-level goals, leaving out the details on how to achieve them. However, to control a robot, the task must be described in terms of primitive commands for the robot. Having the robot move itself to and through an unknown, and possibly narrow, doorway is an example of such a task. It is shown how the transformation from high-level goals to primitive commands can be performed at execution time and an architecture is proposed based on reconfigurable objects that contain domain knowledge and knowledge about the sensors and actuators available. The approach is illustrated using actual data from a real robot.
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