{"id":"https://openalex.org/W2305259555","doi":null,"title":"Applying inter-layer conflict resolution to hybrid robot control architectures","display_name":"Applying inter-layer conflict resolution to hybrid robot control architectures","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W2305259555","mag":"2305259555"},"language":"en","primary_location":{"id":"pmh:oai:smartech.gatech.edu:1853/33979","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/33979","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Dissertation"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035482777","display_name":"Tucker R. Balch","orcid":"https://orcid.org/0000-0002-5148-2033","observed_orcids":["https://orcid.org/0000-0002-5148-2033"]},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tucker Balch","raw_affiliation_strings":["#N#\u2021#N#Georgia Institute of Technology#N#"],"raw_orcid":"https://orcid.org/0000-0002-5148-2033","affiliations":[{"raw_affiliation_string":"#N#\u2021#N#Georgia Institute of Technology#N#","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":null,"display_name":"Matthew D. Powers","orcid":"https://orcid.org/0000-0002-6894-5081","observed_orcids":["https://orcid.org/0000-0002-6894-5081"]},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew D. Powers","raw_affiliation_strings":["#N#\u2021#N#Georgia Institute of Technology#N#"],"raw_orcid":"https://orcid.org/0000-0002-6894-5081","affiliations":[{"raw_affiliation_string":"#N#\u2021#N#Georgia Institute of Technology#N#","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9726999998092651,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9726999998092651,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.012000000104308128,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.009499999694526196,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"mobile robot navigation","score":0.9359999895095825},{"id":"https://openalex.org/keywords/kinematic-constraints","display_name":"kinematic constraints","score":0.5709999799728394},{"id":"https://openalex.org/keywords/conflict-prediction","display_name":"conflict prediction","score":0.5580000281333923},{"id":"https://openalex.org/keywords/unstructured-outdoor-environments","display_name":"unstructured outdoor environments","score":0.5569999814033508},{"id":"https://openalex.org/keywords/physics-based-simulation","display_name":"physical simulation","score":0.8510000109672546}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5960568189620972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5457056164741516},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5063084363937378},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5000643730163574},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.45719850063323975},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4565616846084595},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4398387670516968},{"id":"https://openalex.org/C88548561","wikidata":"https://www.wikidata.org/wiki/Q347599","display_name":"sort","level":2,"score":0.4251907765865326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41777849197387695},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37625691294670105},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26777487993240356},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:smartech.gatech.edu:1853/33979","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/33979","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Dissertation"},{"id":"mag:2305259555","doi":null,"is_oa":false,"landing_page_url":"https://smartech.gatech.edu/bitstream/handle/1853/33979/powers_matthew_d_201005_phd.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W8140010","https://openalex.org/W9012611","https://openalex.org/W1136193735","https://openalex.org/W1498511717","https://openalex.org/W1521785144","https://openalex.org/W1542567763","https://openalex.org/W1555243480","https://openalex.org/W1586173270","https://openalex.org/W1737897198","https://openalex.org/W1967766465","https://openalex.org/W1986933438","https://openalex.org/W1997184982","https://openalex.org/W2006303459","https://openalex.org/W2006687959","https://openalex.org/W2017583489","https://openalex.org/W2023837733","https://openalex.org/W2033046307","https://openalex.org/W2056864430","https://openalex.org/W2057650923","https://openalex.org/W2069954623","https://openalex.org/W2082818853","https://openalex.org/W2084204985","https://openalex.org/W2096794105","https://openalex.org/W2097072277","https://openalex.org/W2097856935","https://openalex.org/W2101767921","https://openalex.org/W2110178871","https://openalex.org/W2117211893","https://openalex.org/W2121806728","https://openalex.org/W2121863487","https://openalex.org/W2123357397","https://openalex.org/W2126767545","https://openalex.org/W2131505299","https://openalex.org/W2145147094","https://openalex.org/W2145916090","https://openalex.org/W2149588608","https://openalex.org/W2151189357","https://openalex.org/W2151285759","https://openalex.org/W2152185829","https://openalex.org/W2154844948","https://openalex.org/W2155277051","https://openalex.org/W2155487235","https://openalex.org/W2161312855","https://openalex.org/W2165489953","https://openalex.org/W2167919796","https://openalex.org/W2294319407","https://openalex.org/W2297172695","https://openalex.org/W2336416123","https://openalex.org/W2565969279","https://openalex.org/W2611243847","https://openalex.org/W3162817847"],"related_works":["https://openalex.org/W2161312855","https://openalex.org/W2057231925","https://openalex.org/W2906618973","https://openalex.org/W2037735146","https://openalex.org/W257942941","https://openalex.org/W2099319640","https://openalex.org/W7097143135","https://openalex.org/W2290713359","https://openalex.org/W2560006004","https://openalex.org/W2050487072"],"abstract_inverted_index":{"In":[0,51],"this":[1,52,93,116,202,251,294],"document,":[2],"we":[3,216,247,275],"propose":[4,217],"and":[5,17,33,83,135,213,226,254,287,308],"examine":[6],"the":[7,15,27,84,97,121,128,132,148,153,160,185,188,194,223,227,231,239],"novel":[8],"use":[9,45],"of":[10,20,46,92,118,131,147,167,187,238,243,284],"a":[11,21,47,54,63,157,171,198,204,219,236,258,265,279,303],"learning":[12,220,278,301],"mechanism":[13,221],"between":[14,222],"reactive":[16,73,161,224,240],"deliberative":[18,56,85,154,228,232],"layers":[19,125,195],"hybrid":[22,48],"robot":[23,40,98,189],"control":[24,42],"architecture.":[25,50],"Balancing":[26],"need":[28],"to":[29,101,111,143,191,209,234,281,289,293],"achieve":[30],"complex":[31,103],"goals":[32],"meet":[34],"real-time":[35],"constraints,":[36,151],"many":[37],"modern":[38],"mobile":[39],"navigation":[41],"systems":[43],"make":[44],"deliberative-reactive":[49],"paradigm,":[53],"high-level":[55],"layer":[57,74,155,162,225,233],"plans":[58],"routes":[59],"or":[60],"actions":[61],"toward":[62,105],"known":[64],"goal,":[65],"based":[66,78,256],"on":[67,79,249,257,264,277],"accumulated":[68],"world":[69],"knowledge.":[70],"A":[71],"low-level":[72],"selects":[75],"motor":[76],"commands":[77],"current":[80],"sensor":[81],"data":[82],"layer's":[86,241],"plan.":[87],"The":[88],"desired":[89],"system-level":[90,174,211],"effect":[91],"architecture":[94],"is":[95,99,120,203,262,297],"that":[96,123,152,159,193],"able":[100],"combine":[102],"reasoning":[104],"global":[106],"objectives":[107],"with":[108,291],"quick":[109],"reaction":[110],"local":[112],"constraints.":[113,136],"\\nImplicit":[114],"in":[115,145,173,197,269,302],"type":[117],"architecture,":[119],"assumption":[122],"both":[124],"are":[126,310],"using":[127,299],"same":[129],"model":[130,237,280],"robot's":[133,149],"capabilities":[134],"It":[137],"may":[138,169],"happen,":[139],"for":[140],"example,":[141],"due":[142],"differences":[144],"representation":[146],"kinematic":[150],"creates":[156],"plan":[158],"cannot":[163],"follow.":[164],"This":[165,261,296],"sort":[166],"conflict":[168],"cause":[170],"degradation":[172],"performance,":[175],"if":[176],"not":[177],"complete":[178],"navigational":[179,214],"deadlock.":[180],"Traditionally,":[181],"it":[182],"has":[183],"been":[184],"task":[186],"designer":[190],"ensure":[192],"operate":[196],"compatible":[199],"manner.":[200],"However,":[201],"complex,":[205],"empirical":[206],"task.":[207],"\\nWorking":[208],"improve":[210],"performance":[212],"robustness,":[215],"introducing":[218],"layer,":[229],"allowing":[230],"learn":[235],"execution":[242],"its":[244],"plans.":[245],"First,":[246],"focus":[248,276],"detecting":[250],"inter-layer":[252,285],"conflict,":[253,286],"acting":[255],"corrected":[259],"model.":[260,295],"demonstrated":[263,298],"physical":[266],"robotic":[267],"platform":[268],"an":[270],"unstructured":[271],"outdoor":[272],"environment.":[273,306],"Next,":[274],"predict":[282],"instances":[283],"planning":[288],"act":[290],"respect":[292],"supervised":[300],"physics-based":[304],"simulation":[305],"Results":[307],"algorithms":[309],"presented.":[311]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2016-06-24T00:00:00"}
