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Título
Dynamic Schema Hierarchies for an Autonomous Robot
Autor
Facultad/Centro
Área de conocimiento
Datos de la obra
Advances in Artificial Intelligence - Iberamia 2002
Editor
Berlín: Springer-Verlag, 2002
Fecha
2002-05-02
Résumé
This paper proposes a behavior based architecture for robot
control which uses dynamic hierarchies of small schemas to generate autonomous
behavior. Each schema is a
ow of execution with a target, can
be turned on and o , and has several parameters which tune its behavior.
Low level schemas are woken up and modulated by upper level schemas,
forming a hierarchy for a given behavior. At any time there are several
awake schemas per level, running concurrently, but only one of them
is activated by environment perception. When none or more than one
schema wants to be activated then upper level schema is called for arbitration.
This paper also describes an implementation of the architecture
and its use on a real robot
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