An Abstract Behavior Representation for Robust, Dynamic Sequencing in a Hybrid Architecture
Hybrid robot control architectures try to provide reactive and deliberative functionality by decomposing a complex system into layers of increasing abstraction and temporal complexity. In building complex systems that react quickly to dynamic environments, the division of components are generally characterized as a Deliberator, a Sequencer, and a Controller. This paper presents a descriptive representation of reactive robot behaviors and the environment that the behaviors anticipate and affect. This paper also presents a control algorithm that uses this representation to create a robust link between the Sequencer and Controller in a hybrid reactive control architecture. The behavior representation promotes robustness and modularity as being a semantic suggestion rather than a syntactical burden like that of the task level control languages currently in use. Thus, it allows for reduced development overhead and duplication of work for system modifications.
2008 AAAI Spring Symposium
Peterson, G. L., & Duffy, J. P. (2008). An Abstract Behavior Representation for Robust, Dynamic Sequencing in a Hybrid Architecture. Papers from the 2008 AAAI Spring Symposium, Architectures for Intelligent Theory-Based Agents. Found at https://aaai.org/proceeding/spring-2008-02/