RT info:eu-repo/semantics/bookPart
T1 Dynamic Schema Hierarchies for an Autonomous Robot
A1 Cañas, José María
A1 Matellán Olivera, Vicente
A2 Arquitectura y Tecnologia de Computadores
K1 Informática
K1 Robótica
K1 Arquitectura
K1 Jerarquías
K1 Schema
AB This paper proposes a behavior based architecture for robotcontrol which uses dynamic hierarchies of small schemas to generate autonomousbehavior. Each schema is a ow of execution with a target, canbe 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 severalawake schemas per level, running concurrently, but only one of themis activated by environment perception. When none or more than oneschema wants to be activated then upper level schema is called for arbitration.This paper also describes an implementation of the architectureand its use on a real robot
PB Berlín: Springer-Verlag, 2002
YR 2012
FD 2012-10-17
LK http://hdl.handle.net/10612/1915
UL http://hdl.handle.net/10612/1915
NO Advances in Artificial Intelligence - Iberamia 2002
NO P. 902-913
DS BULERIA. Repositorio Institucional de la Universidad de León
RD 25-abr-2024