---
title: "Coordination of Action and Perception in a Surveillance Robot"
authors:
  - "James L. Crowley"
doi: ""
url: "https://ijcai.org/proceedings/1987/163"
pdf: "https://ijcai.org/proceedings/1987/0163.pdf"
venue: "Proceedings of the Tenth International Joint Conference on Artificial Intelligence"
year: 1987
pages: "793-795"
track: "Perception"
keywords:
---

# Coordination of Action and Perception in a Surveillance Robot

James L. Crowley

*Proceedings of the Tenth International Joint Conference on Artificial Intelligence*, pages 793-795.

## Abstract

This paper describes a system in which twin hierarchies for naviga~ion and perception are controlled by a knowledge based superv1sor. At the top level, these hierarchies contain collections procedures which implement the "skills" of the system in locomotion and spatial reasoning. The structure of these hierarchies, and their integration is described. Perception and navigation are controlled and monitored by a ~o~ledge ba~ed "supervisor". The supervisor decomposes a rmss1on plan mto subgoals and then uses the perception and navigation procedures to accomplish these subgoals. The orgarrlzation of the rule base for the supervisor is described, and a mission planning is illustrated with a simple example.