A Behaviour-Based Kernel Architecture for Robot Control⋆

Abstract This paper identifies the basic building blocks in a behaviour -based architecture for robot control. The major contribution of the paper is the definition of a state space able to embed semantic relationships between behaviours and the definition of a special operator to generate motion in the state space. The controllability of the resulting architecture is verified in terms of the adopted behaviour definition. The resulting architecture can be considered as a kernel, expandable through the inclusion of external functionalities aiming at increasing its performance