Hierarchy of behaviors

Nicolas Mansard 1 Olivier Aycard 2 Carla Koike 2
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes
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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https://hal.inria.fr/inria-00182038
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Submitted on : Wednesday, October 24, 2007 - 6:34:15 PM
Last modification on : Thursday, November 15, 2018 - 11:57:07 AM
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  • HAL Id : inria-00182038, version 1

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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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