Behavior Engineering with "Dual Dynamics" Models and Design Tools

Dual Dynamics (DD) is a mathematical model of a behavior control system for mobile autonomous robots. Behaviors are specified through differential equations, forming a global dynamical system made of behavior subsystems which interact in a number of ways. DD models can be directly compiled into executable code. The article (i) explains the model, (ii) sketches the Dual Dynamics Designer (DDD) environment that we use for the design, simulation, implementation and documentation, and (iii) illustrates our approach with the example of kicking a moving ball into a goal.

[1]  J. Davenport.  Editor , 1960 .

[2]  S. Harnad.  Behavioral and Brain Sciences , 1970 .

[3]  Pattie Maes,et al.  Situated agents can have goals , 1990, Robotics Auton. Syst..

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

[5]  Toby Tyrrell.  The Use of Hierarchies for Action Selection , 1993, Adapt. Behav..

[6]  Toby Tyrell,et al.  The use of hierarchies for action selection , 1993 .

[7]  Antonio Bicchi,et al.  Closed loop steering of unicycle like vehicles via Lyapunov techniques , 1995, IEEE Robotics Autom. Mag..

[8]  Rajesh Gupta,et al.  Hardware/software co-design , 1996, Proc. IEEE.

[9]  Hermann Streich,et al.  Team Description of the GMD RoboCup-Team , 1998, RoboCup.

[10]  Herbert Jaeger.  Multifunctionality: a fundamental property of behavior mechanisms based on dynamical systems , 1998 .

[11]  Ansgar Bredenfeld.  APICES-rapid application development with graph pattern , 1998, Proceedings. Ninth International Workshop on Rapid System Prototyping (Cat. No.98TB100237).

[12]  Thomas Bergener,et al.  Dynamical systems for the behavioral organization of an anthropomorphic mobile robot , 1998 .

[13]  T. Gelder,et al.  The dynamical hypothesis in cognitive science , 1998, Behavioral and Brain Sciences.

[14]  Herbert Jaeger,et al.  From Continuous Dynamics to Symbols , 1999 .

[15]  Ansgar Bredenfeld.  Co-design tool construction using APICES , 1999, CODES '99.

[16]  Sven Koenig.  'From Animals to Animats 5': Proceedings of the Fifth International Conference on Simulation of Adaptive Behavior , 2000, Artificial Life.