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By embedding sensing devices as a means for monitoring the internal state of the robot, dynamic plan reformulation can occur in situations that threaten the existence of the robot. A method exploiting an analogy to the endocrine control system is forwarded as the preferred method for homeostatic control\u2014the maintenance of a safe internal environment for the machine. Examples are given describing the impact of fuel reserve depletion and global temperature stress. A methodology using signal schemas as a means to supplement the existing motor schema control found in the Autonomous Robot Architecture (AuRA) is presented.<\/jats:p>","DOI":"10.1002\/rob.4620090207","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:09:16Z","timestamp":1183727356000},"page":"197-214","source":"Crossref","is-referenced-by-count":22,"title":["Homeostatic control for a mobile robot: Dynamic replanning in hazardous environments"],"prefix":"10.1002","volume":"9","author":[{"given":"Ronald C.","family":"Arkin","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"H.ShenandG.Signarowski \u201cA knowledge representation for roving robots \u201d IEEE Second Conf. on Artif. Intel. Appl. December1985 pp.621\u2013628."},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"A. 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