Skip to Main content Skip to Navigation
Conference papers

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.
Document type :
Conference papers
Complete list of metadatas
Contributor : Christian Laugier <>
Submitted on : Wednesday, October 24, 2007 - 6:34:15 PM
Last modification on : Saturday, July 11, 2020 - 3:14:31 AM
Long-term archiving on: : Monday, April 12, 2010 - 12:31:43 AM


Files produced by the author(s)


  • HAL Id : inria-00182038, version 1


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⟩



Record views


Files downloads