Development of complex robotic systems using the behavior-based control architecture iB2C

This paper presents a development methodology for complex robotic systems using the behavior-based control architecture iB2C (integrated Behavior-Based Control). It is shown how architectural principles support several behavior-based mechanisms, e.g. coordination mechanisms, behavior interaction, and hierarchical abstraction. Furthermore, design guidelines and structural patterns are presented which support the design and implementation process. The provided analysis tools and visualization techniques help to manage the complexity of large behavior-based networks. Finally, application examples are presented and a step by step description of constructing a behavior-based control structure for the outdoor robot Ravon is given.

[1]  Karsten Berns,et al.  Controlling Dynamic Motions of Biped Robots with Reflexes and Motor Patterns , 2008 .

[2]  R. Arkin.  Moving Up the Food Chain: Motivation and Emotion in Behavior-Based Robots , 2003 .

[3]  T. Christaller,et al.  Dual dynamics: Designing behavior systems for autonomous robots , 1998, Artificial Life and Robotics.

[4]  Julio Rosenblatt,et al.  DAMN: a distributed architecture for mobile navigation , 1997, J. Exp. Theor. Artif. Intell..

[5]  Maja J. Matarić,et al.  Behavior-Based Systems: Key Properties and Implications , 1992 .

[6]  R. A. Brooks,et al.  Intelligence without Representation , 1991, Artif. Intell..

[7]  Nina F. Thornhill,et al.  Detection of multiple oscillations in control loops , 2003 .

[8]  Luc Steels,et al.  Mathematical analysis of behavior systems , 1994, Proceedings of PerAc '94. From Perception to Action.

[9]  Joaquim Filipe.  The Fourth International Conference on Informatics in Control, Automation, and Robotics (ICINCO 2007) , 2007, AI Mag..

[10]  Sheila A. McIlraith,et al.  Agent-based composite services in DAML-S: The behavior-oriented design of an intelligent semantic web , 2003 .

[11]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[12]  Barry D. Reich,et al.  An architecture for behavioral locomotion , 1997 .

[13]  Tony J. Prescott,et al.  Forced Moves or Good Tricks in Design Space? Landmarks in the Evolution of Neural Mechanisms for Action Selection , 2007, Adapt. Behav..

[14]  Francesco Mondada,et al.  Evolution of homing navigation in a real mobile robot , 1996, IEEE Trans. Syst. Man Cybern. Part B.

[15]  David W. Payton,et al.  Plan guided reaction , 1990, IEEE Trans. Syst. Man Cybern..

[16]  M. Matarić.  Behavior-based robotics as a tool for synthesis of artificial behavior and analysis of natural behavior , 1998, Trends in Cognitive Sciences.

[17]  Karsten Berns,et al.  An Activation-Based Behavior Control Architecture for Walking Machines , 2002, Int. J. Robotics Res..

[18]  Fumiya Iida,et al.  New Robotics: Design Principles for Intelligent Systems , 2005, Artificial Life.

[19]  Stephen A. Edwards,et al.  The Synchronous Languages Twelve Years Later , 1997 .

[20]  Maja J. Mataric,et al.  Behaviour-based control: examples from navigation, learning, and group behaviour , 1997, J. Exp. Theor. Artif. Intell..

[21]  Ruzena Bajcsy,et al.  Experiments in behavior composition , 1997, Robotics Auton. Syst..

[22]  Cyril S. Ku,et al.  Design Patterns , 2008, Wiley Encyclopedia of Computer Science and Engineering.

[23]  Sonia Chernova,et al.  From Deliberative to Routine Behaviors: A Cognitively Inspired Action-Selection Mechanism for Routine Behavior Capture , 2007, Adapt. Behav..

[24]  Martial Hebert,et al.  A behavior-based system for off-road navigation , 1994, IEEE Trans. Robotics Autom..

[25]  Gregor Schöner,et al.  A dynamical systems approach to task-level system integration used to plan and control autonomous vehicle motion , 1992, Robotics Auton. Syst..

[26]  Alan F. T. Winfield,et al.  Designing Intelligent Control Systems for Safety Critical Applications , 2006 .

[27]  Ronald C. Arkin,et al.  An Behavior-based Robotics , 1998 .

[28]  Karsten Berns,et al.  Control of facial expressions of the humanoid robot head ROMAN , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[29]  Christophe G. Giraud-Carrier,et al.  Incremental Development of Adaptive Behaviors using Trees of Self-Contained Solutions , 2005, Adapt. Behav..

[30]  Karsten Berns,et al.  Extension Approach for the Behaviour-Based Control System of the Outdoor Robot RAVON , 2005, AMS.

[31]  Joanna J. Bryson,et al.  Intelligence by design: principles of modularity and coordination for engineering complex adaptive agents , 2001 .

[32]  Matthias Scheutz,et al.  Architectural mechanisms for dynamic changes of behavior selection strategies in behavior-based systems , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[33]  Pattie Maes,et al.  The Dynamics of Action Selection , 1989, IJCAI.

[34]  Stephen A. Edwards,et al.  The synchronous languages 12 years later , 2003, Proc. IEEE.

[35]  Karsten Berns,et al.  Emotion Based Control Architecture for Robotics Applications , 2007, KI.

[36]  Edward M. Riseman,et al.  Towards cosmopolitan robots: intelligent navigation in extended man-made environments , 1987 .

[37]  Alessandro Saffiotti,et al.  The Saphira architecture: a design for autonomy , 1997, J. Exp. Theor. Artif. Intell..

[38]  Luc Steels,et al.  A case study in the behavior-oriented design of autonomous agents , 1994 .

[39]  Joanna Bryson,et al.  The Behavior-Oriented Design of Modular Agent Intelligence , 2002, Agent Technologies, Infrastructures, Tools, and Applications for E-Services.

[40]  Christopher G. Lasater,et al.  Design Patterns , 2008, Wiley Encyclopedia of Computer Science and Engineering.

[41]  Paul S. Schenker,et al.  CAMPOUT: a control architecture for multirobot planetary outposts , 2000, SPIE Optics East.

[42]  Pattie Maes,et al.  Toward the Evolution of Dynamical Neural Networks for Minimally Cognitive Behavior , 1996 .

[43]  Karsten Berns,et al.  Formal verification of safety behaviours of the outdoor robot ravon , 2007, ICINCO-RA.

[44]  Klaus Schneider,et al.  Averest: Specification, Verification, and Implementation of Reactive Systems , 2005 .

[45]  Maja J. Matari,et al.  Behavior-based Control: Examples from Navigation, Learning, and Group Behavior , 1997 .

[46]  A. Mukerjee,et al.  Metrics for evaluation of behaviour-based robotic systems , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[47]  Karsten Berns,et al.  Autonomous behavior-based exploration of office environments , 2006, ICINCO-RA.

[48]  Andrea Bonarini,et al.  An architecture to coordinate fuzzy behaviors to control an autonomous robot , 2003, Fuzzy Sets Syst..

[49]  Jeremy G. Siek,et al.  The Boost Graph Library - User Guide and Reference Manual , 2001, C++ in-depth series.

[50]  Rodney A. Brooks,et al.  Intelligence Without Reason , 1991, IJCAI.

[51]  Alessandro Saffiotti,et al.  A Multivalued Logic Approach to Integrating Planning and Control , 1995, Artif. Intell..

[52]  Karsten Berns,et al.  Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[53]  Alan F. T. Winfield,et al.  Designing Behaviour Based Systems Using the Space-time Distance Principle , 2001 .