Abstract

This paper reviews key concepts of the Autonomous Robot Architecture (AuRA). Its structure, strengths, and roots in biology are presented. AuRA is a hybrid deliberative/reactive robotic architecture that has been developed and refined over the past decade. In this article, particular focus is placed on the reactive behavioral component of this hybrid architecture. Various real world robots that have been implemented using this architectural paradigm are discussed, including a case study of a multiagent robotic team that competed and won the 1994 AAAI Mobile Robot Competition. 1 Introduction The Autonomous Robot Architecture (AuRA) was developed in the mid-1980's as a hybrid approach to robotic navigation [6]. Hybridization arises from the presence of two distinct components: a deliberative or hierarchical planner, based on traditional artificial intelligence techniques; and a reactive controller, based upon schema theory [2]. It was the first robot navigational system to be presented ...

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