Here are the papers/readings that we will cover in class:
P.H. Mowforth and P. Grant. "From Task Level Planning To Analogical Navigation." The Autonomous Mobile Robots and Its Applications -- IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS '89), pages 142--146, 1989.
You can access an electronic copy of this paper through the OU library. Start at http://www-lib.ou.edu/, choose "LORA," and under the databases, choose "IEEE Xplore."
T.J. Pennings. "Do Dogs Know Calculus?" The College Mathematics Journal, 34 (3): 178--182, 2003.
You can access an electronic copy of this article from the Mathematics Association of America website at http://www.maa.org/features/elvisdog.pdf.
R.A. Brooks. "A Robust Layered Control System for a Mobile Robot." MIT AI Lab Memo No. 864, September 1985.
Code sample taken with modifications from Joseph L. Jones, Anita M. Flynn, and Bruce A. Seiger. Mobile Robots: Inspiration to Implementation, Second Edition, Section 9.5, "Behavior Control in IC," pages 302-306, A. K. Peters, 1999.
Along with the code sample taken from Jones et al., above, you should read Homework 2 and its solution from the Spring 2003 offering of this course. In that homework, differences between the theory behind the subsumption and the Jones implementation are explored, code is fleshed out and modified in different ways, and the code is rewritten to match the Schema Theory rather than subsumption.
The other old homework assignment and solution you should read is Homework 2 from Spring 2002 and its solution. This homework deals with errors in the Murphy textbook relating to coding robot behaviors.
R.A. Brooks. "Planning is Just a Way of Avoiding Figuring Out What To Do Next." MIT AI Lab Working Paper No. 303, September 1987.
It does not appear to be currently possible to obtain this paper electronically in its original form. (If you can find this paper on the web, please let me know.)
However, this paper has been included as a chapter in Prof. Brooks' recent book Cambrian Intelligence, which is available to us at OU as an electronic book. Start at http://www-lib.ou.edu/, choose "Catalog," don't bother logging in (it is a security hole), just choose "Catalog" again, and search for "Cambrian Intelligence." Note: Unfortunately, this electronic book is only available to users of MS Windows systems. The book also contains Brooks' paper listed above as well.
S. Thrun. "To Know or Not to Know: On the Utility of Models in Mobile Robotics." AI Magazine, 18 (1): 47--54, 1997.
Reid G. Simmons, Richard Goodwin, Karen Zita Haigh, Sven Koenig, Joseph O'Sullivan, Manuela M. Veloso. "Xavier: Experience with a Layered Robot Architecture." SIGART Bulletin, pages 22--33, Fall 1997.
A draft version of this paper is available from the group's website.
James S. Albus. "A Reference Model Architecture for Intelligent Systems Design."
Available from the National Institute of Standards and Technology's Real-Time Control Systems Library -- Software and Documentation website.