Abstract
A behavior based architecture is presented in which behaviors are sparsely interconnected, using an arbitration structure which solves the problem of behavior selection in a distributed way. The arbitration structure is constituted by sets of blockers, each blocker resolving conflicts between two behaviors. There will be a blocker set for each actuator in order to allow independent actions from non interfering behaviors. The behavior model is also described comprising two sub-modules, one for the action and another for the priority output of the behavior. The user when designing a particular vehicle must also define, for each behavior, a fixed priority input plus a fatigue and a recovery times that complete the behavior characterization. A case study is depicted with analysis of the vehicle global behavior for different parameter values. The implications of the architecture model for the control of autonomous vehicles are discussed and future developments are advanced
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© 1995 Springer-Verlag Berlin Heidelberg
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Correia, L., Steiger-Garção, A. (1995). Behavior-Based Architecture with Distributed Selection. In: Steels, L. (eds) The Biology and Technology of Intelligent Autonomous Agents. NATO ASI Series, vol 144. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-79629-6_16
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DOI: https://doi.org/10.1007/978-3-642-79629-6_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-79631-9
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