A control architecture for intelligent robots based on graph manipulation for planning, monitoring, execution, intention switching, and fault recovery: Dissertation

Jörg-Michael Hasemann

Research output: ThesisDissertationMonograph


A new robot control architecture is proposed which combines the functions of planning, intention switching, execution, plan validity and plan execution monitoring, and fault recovery. Emphasis is placed on providing a technological basis for building control systems for intelligent robots by modeling these functionalities using simple, though powerful, graph manipulation techniques and introducing different types of plan components for monitoring, planning, and execution using an object-oriented design approach. The proposed architecture is related to existing approaches and results obtained from the research areas of monitoring and planning. An implementation of the architecture is described with results from tests in a simulated environment being reported. A new method for grasp and motion planning based on hierarchical fuzzy logic rule sets is presented and its feasibility is verified by applying it to an industrial paper roll manipulator.
Original languageEnglish
QualificationDoctor Degree
Awarding Institution
  • University of Oulu
  • Silvén, Olli, Supervisor, External person
Award date30 Aug 1996
Place of PublicationEspoo
Print ISBNs951-38-4941-4
Publication statusPublished - 1996
MoE publication typeG4 Doctoral dissertation (monograph)



  • robots
  • control systems
  • models
  • planning
  • monitors
  • switching
  • fault analysis
  • automation
  • artificial intelligence
  • fuzzy logic
  • computer programming

Cite this