{"type":"ScholarlyArticle","title":"The Navigation System of the JPL Robot","authors":[{"name":"Alan M. Thompson","slug":"alan-m-thompson","given":"Alan M.","family":"Thompson","affiliation":""}],"abstract":"The control structure of the JPL research robot and the operations of the navigation subsystem are discussed. The robot functions as a network of interacting concurrent processes distributed among several computers and coordinated by a central executive. The results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility. The m:>del is used by a pathplanning algorithm, PATH*, which uses tree search methods to find the optimal path to a goal. In PATH*, the search space is defined dynamically as a consequence of node testing. Maze-solving and the use of an associative data base for contextdependent node generation are also discussed. Execution of a plarined path is accomplished by a feedback guidance process with automatic error recovery.","doi":null,"url":"https://ijcai.org/proceedings/1977/178","pdf":"https://ijcai.org/proceedings/1977/0178.pdf","markdown":"https://ijcai.org/proceedings/1977/178.md","bibtex":"https://ijcai.org/proceedings/1977/bibtex/178","volume":{"slug":"1977","title":"Proceedings of the Fifth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1977","url":"https://ijcai.org/proceedings/1977/","year":1977,"location":"Cambridge, MA, USA","dates":"","editors":"Raj Reddy","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":178,"pages":{"first":749,"last":756},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}