Paper Info
Title
Dynamic Schema Hierarchies for an Autonomous Robot
Abstract
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 flow of execution with a target, can be turned on and off, 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.
Year
DOI
Venue
2002
10.1007/3-540-36131-6_92
IBERAMIA
Keywords
Field
DocType
robot control
Robot control,Computer science,Artificial intelligence,Autonomous system (mathematics),Hierarchy,Autonomous robot,Robot,Schema (psychology),Robotics,Mobile robot
Conference
Volume
ISSN
ISBN
2527
0302-9743
3-540-00131-X
Citations 
PageRank 
References 
2
0.43
12
Authors
2
Name
Order
Citations
PageRank
José M. Cañas1192.39
Vicente Matellán29815.50