Abstract
This paper describes the “dual dynamics” (DD) design scheme for robotic behavior control systems. Behaviors are formally specified as dynamical systems using differential equations. A key idea for the DD scheme is that a robotic agent can work in different “modes,” which lead to qualitatively different behavioral patterns. Mathematically, transitions between modes are bifurcations in the control system.
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Jaeger, H., Christaller, T. Dual dynamics: Designing behavior systems for autonomous robots. Artificial Life and Robotics 2, 108–112 (1998). https://doi.org/10.1007/BF02471165
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DOI: https://doi.org/10.1007/BF02471165