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8

ROBOCUP
2001
Springer

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A Modular Hierarchical Behavior-Based Architecture

13 years 9 months ago

A Modular Hierarchical Behavior-Based Architecture

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Abstract. This paper describes a highly modular hierarchical behaviorbased control system for robots. Key features of the architecture include: easy addition/removal of behaviors, easy addition of specialized behaviors, easy to program hierarchical structure, and ability to execute nonconﬂicting behaviors in parallel. The architecture uses a unique reward based combinator to arbitrate amongst competing behaviors such as to maximize reward. This behavior system was successfully used in our Sony legged league entry in RoboCup 2000 where we came in third losing only a single game. The system was also tested in another domain where it performed on par with a human operator.

Scott Lenser, James Bruce, Manuela M. Veloso

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Behavior | Hierarchical Behaviorbased Control | Nonconﬂicting Behaviors | ROBOCUP 2001 | Robotics |

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Added	30 Jul 2010
Updated	30 Jul 2010
Type	Conference
Year	2001
Where	ROBOCUP
Authors	Scott Lenser, James Bruce, Manuela M. Veloso

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