The Application of Design Schemata in Off-Road Robotics

This paper presents a novel concept that combines action-oriented and perception-oriented concepts for the development of robot control systems with the aim to close the semantic gap between the two approaches. Furthermore, the paper describes a representation scheme for a generic modeling of environment data from arbitrary sensors. Formal abstraction and fusion methods are introduced, and their application in the control system of a real robot is demonstrated using the example of the autonomous off-road vehicle RAVON.