Dynamical systems for the behavioral organization of autonomous robot navigation

Axel Steinhage; Gregor Schoener

doi:10.1117/12.327012

9 October 1998 Dynamical systems for the behavioral organization of autonomous robot navigation

Axel Steinhage, Gregor Schoener

Proceedings Volume 3523, Sensor Fusion and Decentralized Control in Robotic Systems; (1998) https://doi.org/10.1117/12.327012
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

We present an architecture for the behavioral organization of autonomous robots. For the example of navigation, we describe how complex behavior can be broken up into multiple elementary behaviors. The overall behavior is generated by activating and deactivating the elementary behaviors dependent on both the sensor input and the intrinsic logics of the behavioral plan needed to fulfill the task. The elementary behaviors as well as their organization into behavioral sequences are achieved by appropriately designed nonlinear dynamical systems. We show how intrinsicly discrete functionalities like counting and decision making can be realized by nonlinear dynamical systems and how these dynamics can be coupled stably and flexibly.

Citation Download Citation

Axel Steinhage and Gregor Schoener "Dynamical systems for the behavioral organization of autonomous robot navigation", Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); https://doi.org/10.1117/12.327012

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