Title:
Combining Deliberation, Reactivity, and Motivation in the Context of a Behavior-Based Robot Architecture
Combining Deliberation, Reactivity, and Motivation in the Context of a Behavior-Based Robot Architecture
Authors
Arkin, Ronald C.
Stoytchev, Alexander
Stoytchev, Alexander
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Abstract
This paper describes a hybrid mobile robot architecture
that addresses three main challenges for robots living in
human-inhabited environments: how to operate in dynamic and unpredictable environment, how to deal with
high-level human commands, and how to be engaging
and fun for human users. The architecture combines
three components: deliberative planning, reactive control, and motivational drives. It has proven useful for
controlling mobile robots in man-made environments.
Results are reported for a fax delivery mission in a normal office environment.
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Date Issued
2000
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