Interactive graphical mobile robot programming

A behavior-based robot simulator 'JC-3' is described. A robot application is constructed in JC-3 using an interactive graphical 'agent-editor' where connections between sensors and actuators and between goals and actions are established. The agent-editor output is a 'meta-software', which can be transferred in to a real robot where a 'meta-software compiler' will produce a hardware level robot control program. The meta-software is a collection of behavior structures. A 'static' behavior selection mechanism is used with physical sensors/actuators and a 'dynamic' behavior selection mechanism developed by Maes (1991) is used when dealing with goals of the robot. Using the JC-3 simulator the operation of the meta-software can be simulated in a 3D computer graphics environment.<<ETX>>

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