Dynamic Behavior Sequencing for Hybrid Robot Architectures
Document Type
Article
Publication Date
11-2011
Abstract
Hybrid robot control architectures separate planning, coordination, and sensing and acting into separate processing layers to provide autonomous robots both deliberative and reactive functionality. This approach results in systems that perform well in goal-oriented and dynamic environments. Often, the interfaces and intents of each functional layer are tightly coupled and hand coded so any system change requires several changes in the other layers. This work presents the dynamic behavior hierarchy generation (DBHG) algorithm, which uses an abstract behavior representation to automatically build a behavior hierarchy for meeting a task goal. The generation of the behavior hierarchy occurs without knowledge of the low-level implementation or the high-level goals the behaviors achieve. The algorithm’s ability to automate the behavior hierarchy generation is demonstrated on a robot task of target search, identification, and extraction. An additional simulated experiment in which deliberation identifies which sensors to use to conserve power shows that no system modification or predefined task structures is required for the DBHG to dynamically build different behavior hierarchies.
Source Publication
Journal of Intelligent and Robotic Systems ( ISSN 0921-0296 | e-ISSN 1573-0409)
Recommended Citation
Peterson, G.L., Duffy, J.P. & Hooper, D.J. Dynamic Behavior Sequencing for Hybrid Robot Architectures. J Intell Robot Syst 64, 179–196 (2011). https://doi.org/10.1007/s10846-010-9535-3
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The published version of record appears in volume 64 of Journal of Intelligent and Robotic Systems as cited below, and is available to subscribers at the DOI link below.
Copyright statement: © Springer Science+Business Media B.V. (outside the USA) 2011
Funding notes: This work was supported in part through AFRL/RYRN Lab Task 06SN02COR through the Air Force Office of Scientific Research (AFOSR)
Please attribute the work using the citation indicated below.