Mission-Directed Behaviour-Based Robots For Planetary Exploration

This paper argues that the S* robot control architecture of Tsotsos [1997] is well suited to intelligent control of planetary rovers. Behaviour-based systems 0perate well in unknown environments, but cannot support deliberative functionality. Hybrid systems resolve this issue, but introduce the potential for other problems. S* is a non-hybrid approach that supports deliberation but also attentive vision. As well, S* includes a missionspecification language that permits behaviour reconfiguration on the fly.

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