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A Hierarchical Architecture for Behavior-Based Robots (2002)
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| Venue: | In Proc., First International Joint Conference on Autonomous Agents and Multi-Agent Systems |
| Citations: | 70 - 12 self |
BibTeX
@INPROCEEDINGS{Nicolescu02ahierarchical,
author = {Monica N. Nicolescu and Maja J. Mataric},
title = {A Hierarchical Architecture for Behavior-Based Robots},
booktitle = {In Proc., First International Joint Conference on Autonomous Agents and Multi-Agent Systems},
year = {2002},
pages = {227--233}
}
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Abstract
Behavior-based systems (BBS) have been effective in a variety of applications, but due to their limited use of representation they have not been applied much for more complex problems, such as ones involving temporal sequences, or hierarchical task representations. This paper presents a Hierarchical Abstract Behavior Architecture that allows for the representation and execution of complex, sequential, hierarchically structured tasks within a behavior-based framework. The architecture, obtained by introducing the notion of abstract behaviors, also enables reusability of behaviors across different tasks. The basis for task representation is the behavior network construct which encodes complex, hierarchical plan-like strategies. The approach is validated in experiments on a Pioneer 2DX mobile robot.
Keyphrases
hierarchical architecture behavior-based robot limited use behavior-based framework hierarchical task representation temporal sequence mobile robot abstract behavior different task behavior-based system hierarchical plan-like strategy task representation structured task behavior network construct hierarchical abstract behavior architecture complex problem
