• Integrated Control for Mobile Manipulation for Intelligent Materials Handling 

      Arkin, Ronald C.; Arya, S.; Book, Wayne John; Cameron, Jonathan M.; Gardner, Warren F.; Lawton, Daryl T.; MacKenzie, Douglas Christopher; Ramanathan, V.; Son, C.; Vachtsevanos, George J.; Ward, Keith Ronald (Georgia Institute of Technology, 1992)
      An integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and micro-manipulation components. ...
    • Planning to Behave: A Hybrid Deliberative/Reactive Robot Control Architecture for Mobile Manipulation 

      Arkin, Ronald C.; MacKenzie, Douglas Christopher (Georgia Institute of Technology, 1994)
      Hybrid architectures provide an effective means for integrating world knowledge with reactive control. This paper describes the motivation behind the architectural decision to hybridize, and presents a case study in mobile ...