YILDIRIM, Şule

Ph.D. in International Computing Institute

Supervisor: Prof. Dr. Turhan TUNALI

July 2002, 169 pages

In this project, a vision guided robot that can make decisions is developed. In today’s industry, the robot arms do the same jobs continuously and they are not handling unexpected situations. However, in industrial work, unexpected events occur. The robot operators miss these situations generally. For this reason, the robots should be able to handle unexpected situations and should be able to make their own decisions. There are already studies that try to make robots more intelligent, however, these studies are at low level of abstraction and cannot handle many error situations. In this study, the unexpected events are handled at the highest planning level.

Keywords: Robotic planning, robotic replanning, unexpected events, vision feedback, autonomous agents, robotic architectures.