Designing Behavior-based Robots
by Jonathan Connell

In this paper, we describe a layered parallel control strategy developed at MIT. We will discuss the design of different behavioral layers and techniques for coordinating them to achieve tasks. These principles will be illustrated by an examination of several existing, large-scale mobile robots. The same methodology used by these systems forms the basis for the design of robots using the Generic Robot Assembly Kit (GRAK).

Sections:

  1. A Layered Architecture
  2. Co-design of Sensors and Rules
  3. Coordinating Multiple Behaviors
  4. Adding Supervisory Control
  5. Summary
Next section - Back to Johuco

Copyright © 1992, Johuco Ltd., All Rights Reserved