Behaviour-oriented commands: from distributed knowledge representation to real-time implementation

This paper presents a general methodology to model and implement real time control of complex systems with high reactivity. It is based on an original concept called "behaviour oriented commands" (BOCs). This methodology has been applied successfully in our mobile robot. BOCs incorporate mechanisms to model the set of rules (knowledge) which describes the restrictions and actions to achieve a goal. Basic rules are well encapsulated by entities called "behaviours", while global co-operating rules are explicited by the association link managed by the BOC's control unit. The model is easily translated into a real time implementation. This fusion between knowledge and real time is the main contribution of our work to the RT area.