10.1007/s10514-010-9215-y">
 

Document Type

Article

Publication Date

1-2011

Abstract

Behavior-based systems form the basis of autonomous control for many robots, but there is a need to ensure these systems respond in a timely manner. Unexpected latency can adversely affect the quality of an autonomous system’s operations, which in turn can affect lives and property in the real-world. A robots ability to detect and handle external events is paramount to providing safe and dependable operation. This paper presents a concurrent version of a behavior-based system called the Real-Time Unified Behavior Framework, which establishes a responsive basis of behavior-based control that does not bind the system developer to any single behavior hierarchy. The concurrent design of the framework is based on modern software engineering principles and only specifies a functional interface for components, leaving the implementation details to the developers. In addition, the individual behaviors are executed by a real-time scheduler, guaranteeing the responsiveness of routines that are critical to the autonomous system’s safe operation. Experimental results demonstrate the ability of this approach to provide predictable temporal operation, independent of fluctuations in high-level computational loads.

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Copyright statement: © Springer Science+Business Media, LLC (outside the USA) 2011

AFIT Scholar furnishes the manuscript version of this article in accordance with the publisher sharing polices listed at Open Policy Finder (was Sherpa). The published version of record appears in volume 30 of Autonomous Robots as cited, and is available by subscription through the DOI link below.

Funding notes: This work was supported in part through Lab Task #08RY10COR from the Air Force Office of Scientific Research, USAF.

Source Publication

Autonomous Robots (ISSN 0929-5593 | e-ISSN 1573-7527)

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