Notes and Reading - Lecture #5

Lecture #5 was a seminar on robotics


There are no notes for this lecture.


The reading for this lecture is:

Brooks, R. A. "A Robust Layered Control System for a Mobile Robot", IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14?23; also MIT AI Memo 864, September 1985.
To assist in the discussion, consider the following "talking points":
  1. What is the main idea put forward in the paper?
  2. How does this advance the start of the art (at the time of writing)?
  3. Which of the "nine dogmatic principles" are addressed in the paper?
  4. Is the control model reactive or deliberative?
  5. How much of the work described in the paper has been implemented? Is this enough to allow us to evaluate the approach?
  6. Is the control model a "clean" implementation of the subsumption architecture?
  7. Is the evaluation section of the paper convincing?