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Conference Papers Year : 2005

Hierarchy of behaviors

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Abstract

Living beings are often observed switching strategies in response to a changing environment. However, autonomous robotics mostly implements a single behaviour well suited to a particular task such as navigation, localization and so on. Actually, one burning issue of autonomous robotics is to manage a complex task starting from a set of simple behaviours. In other words, the robot has to choose the optimal behaviour given the sensori-motor context in order to build a global and coherent process. This is usually done by a strict specification from the programmer. In this article, we put forward a framework called behaviours hierarchy that handle elementary ability to respond to a given task. We show that this framework leads to the continuous application of an adequate behaviour depending on the environment. Finally, we propose a general method to implement this framework using Bayesian programming.
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Dates and versions

inria-00182038 , version 1 (24-10-2007)

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  • HAL Id : inria-00182038 , version 1

Cite

Nicolas Mansard, Olivier Aycard, Carla Koike. Hierarchy of behaviors. Proc. of the IEEE International Conference on Robotics and Biomimetics, 2005, Hong Kong, France. ⟨inria-00182038⟩
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