Abstract
This paper presents the behaviour-based control architecture iB2C (integrated Behaviour-Based Control) used for the development of complex robotic systems. The specification of behavioural components is described as well as the integration of behaviour coordination and hierarchical abstraction. It is considered how the design process can be supported by guidelines and by tools for development as well as analysis. Finally some application platforms are presented.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Brooks, R.A.: A Robust Layered Control System for a Mobile Robot. IEEE Journal of Robotics and Automation RA-2(1), 14–23 (1986)
Mataric, M.J.: Behavior-Based Control: Examples from Navigation, Learning, and Group Behavior. Journal of Experimental and Theoretical Artificial Intelligence, Special issue on Software Architectures for Physical Agents 9(2-3), 323–336 (1997)
Langer, D., Rosenblatt, J., Hebert, M.: A Behaviour-Based System for Off-Road Navigation. IEEE Journal of Robotics and Automation (1994)
Scheutz, M., Andronache, V.: Architectural Mechanisms for Dynamic Changes of Behavior Selection Strategies in Behavior-Based Systems. IEEE Transactions on Systems, Man, and Cybernetics – Part B: Cybernetics 2377–2395 (2004)
Bryson, J.: Intelligence by Design: Principles of Modularity and Coordination for Engineering Complex Adaptive Agents. Dissertation, Massachusetts Institute of Technology (September 2001)
Albiez, J., Luksch, T., Berns, K., Dillmann, R.: An Activation-Based Behavior Control Architecture for Walking Machines. The International Journal on Robotics Research 22, 203–211 (2003)
Albiez, J.: Verhaltensnetzwerke zur adaptiven Steuerung biologisch motivierter Laufmaschinen. GCA Verlag (2007)
Proetzsch, M., Luksch, T., Berns, K.: Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation. In: ICRA. 20th IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 18-22, 2005, IEEE Computer Society Press, Los Alamitos (2005)
Arkin, R.C.: Moving up the food chain: Motivation and Emotion in behavior-based robots. Technical report, Mobile Robot Laboratory, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA (2003)
Scholl, K.U., Albiez, J., Gassmann, G.: MCA – An Expandable Modular Controller Architecture. In: 3rd Real-Time Linux Workshop, Milano, Italy (2001)
Proetzsch, M., Berns, K., Schuele, T., Schneider, K.: Formal Verification of Safety Behaviours of the Outdoor Robot RAVON. In: ICINCO. Fourth International Conference on Informatics in Control, Automation and Robotics, Angers, France, May 2007, INSTICC Press (2007)
Schmidt, D., Luksch, T., Wettach, J., Berns, K.: Autonomous Behavior-Based Exploration of Office Environments. In: 3rd International Conference on Informatics in Control, Automation and Robotics - ICINCO, Setubal, Portugal, August 1-5, 2006, pp. 235–240 (2006)
Berns, K., Hirth, J.: Control of facial expressions of the humanoid robot head ROMAN. In: IROS. IEEE/RSJ International Conference on Intelligent Robots and Systems, October 9-15, 2006, Beijing, China (2006)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Proetzsch, M., Luksch, T., Berns, K. (2007). The Behaviour-Based Control Architecture iB2C for Complex Robotic Systems. In: Hertzberg, J., Beetz, M., Englert, R. (eds) KI 2007: Advances in Artificial Intelligence. KI 2007. Lecture Notes in Computer Science(), vol 4667. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74565-5_48
Download citation
DOI: https://doi.org/10.1007/978-3-540-74565-5_48
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74564-8
Online ISBN: 978-3-540-74565-5
eBook Packages: Computer ScienceComputer Science (R0)