---
title: "A Multi-level Planning and Navigation System for a Mobile Robot: A First Approach to HILARE"
authors:
  - "Georges Giralt"
  - "Ralph P. Sobek"
  - "Raja Chatila"
doi: ""
url: "https://ijcai.org/proceedings/1979/73"
pdf: "https://ijcai.org/proceedings/1979/0073.pdf"
venue: "Proceedings of the Sixth International Joint Conference on Artificial Intelligence"
year: 1979
pages: ""
track: ""
keywords:
---

# A Multi-level Planning and Navigation System for a Mobile Robot: A First Approach to HILARE

Georges Giralt, Ralph P. Sobek, Raja Chatila

*Proceedings of the Sixth International Joint Conference on Artificial Intelligence*.

## 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.