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Dynamic Schema Hierarchies for an Autonomous Robot

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Advances in Artificial Intelligence — IBERAMIA 2002 (IBERAMIA 2002)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2527))

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Abstract

This paper proposes a behavior based architecture for robot control which uses dynamic hierarchies of small schemas to generate autonomous behavior. Each schema is a flow of execution with a target, can be turned on and off, and has several parameters which tune its behavior. Low level schemas are woken up and modulated by upper level schemas, forming a hierarchy for a given behavior. At any time there are several awake schemas per level, running concurrently, but only one of them is activated by environment perception. When none or more than one schema wants to be activated then upper level schema is called for arbitration. This paper also describes an implementation of the architecture and its use on a real robot.

Minerva: http://www.cs.cmu.edu/~minerva

Aibo:http://www.aibo.com

Robocup: http://www.robocup.org/

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Author information

Authors and Affiliations

  1. Universidad Rey Juan Carlos, 28933, Móstoles, Spain

    José M. Cañas & Vicente Matellán

Authors
  1. José M. Cañas
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  2. Vicente Matellán
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Editor information

Editors and Affiliations

  1. Telefónica Investigación y Desarrollo, Emilio Vargas 6, 28043, Madrid, Spain

    Francisco J. Garijo

  2. Dpto. Lenguajes y Sistemas Informáticos, Universidad de Sevilla, ETS Ingeniería Informática, 41012, Seville, Spain

    José C. Riquelme  & Miguel Toro  & 

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© 2002 Springer-Verlag Berlin Heidelberg

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Cañas, J.M., Matellán, V. (2002). Dynamic Schema Hierarchies for an Autonomous Robot. In: Garijo, F.J., Riquelme, J.C., Toro, M. (eds) Advances in Artificial Intelligence — IBERAMIA 2002. IBERAMIA 2002. Lecture Notes in Computer Science(), vol 2527. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36131-6_92

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  • DOI: https://doi.org/10.1007/3-540-36131-6_92

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00131-7

  • Online ISBN: 978-3-540-36131-2

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