Self-organized architecture for outdoor mobile robot navigation

This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navi- gation experiments on the robot in a variety of natural outdoor environments.