{"type":"ScholarlyArticle","title":"A Multi-level Planning and Navigation System for a Mobile Robot: A First Approach to HILARE","authors":[{"name":"Georges Giralt","slug":"georges-giralt","given":"Georges","family":"Giralt","affiliation":""},{"name":"Ralph P. Sobek","slug":"ralph-p-sobek","given":"Ralph P.","family":"Sobek","affiliation":""},{"name":"Raja Chatila","slug":"raja-chatila","given":"Raja","family":"Chatila","affiliation":""}],"abstract":"This paper describes the current state of HILARE: a modular progressively-built mobile robot aimed at general robotics research. The computer organization comprises of local mini and micro processors coupled with a remote time-shared system acting as a consulting facility. A multilevel decision-making system is presented with world models, inference rules, and algorithms particular to each level. The navigation planner uses a geometric model wherein 2-space is partitioned into polygonal areas based on perceptual and/or initial information. A cost function is proposed which provides support for optimal or £-optimal path finding.","doi":null,"url":"https://ijcai.org/proceedings/1979/73","pdf":"https://ijcai.org/proceedings/1979/0073.pdf","markdown":"https://ijcai.org/proceedings/1979/73.md","bibtex":"https://ijcai.org/proceedings/1979/bibtex/73","volume":{"slug":"1979","title":"Proceedings of the Sixth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1979","url":"https://ijcai.org/proceedings/1979/","year":1979,"location":"Tokyo, Japan","dates":"August 20-23, 1979","editors":"Bruce G. Buchanan","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":null,"track":"","number":73,"pages":{"first":null,"last":null},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}