Buzz, An Instantiation of a Schema-Based Reactive Robotic System

Abstract

The Georgia Tech entry to the AAAI Mobile Robot Competition, a schema-based reactive robotic system, is described. New developments are presented including the introduction of two novel behaviors probe and avoid-past, specialized planning and sensing strategies, and a transputer implementation of the reactive control system. 1. Introduction In July of 1992, a robot competition was sponsored by the American Association of Artificial Intelligence in San Jose, California [4]. A robot was required to perform three tasks. Phase 1 of the competition required a demonstration that the robot was able to effectively maneuver among both obstacles and humans in a highly cluttered and unmodeled environment. This environment consisted of a ring approximately 80 feet in diameter littered with a large number of cardboard boxes of various sizes. An enclosing wall roughly 3 feet high defined the arena. Phase 2 of the competition required the robot to locate and move to 10 target poles that were placed ...