Combining Finite State Machine and Decision-Making Tools for Adaptable Robot Behavior
Modeling robot behavior is a common task in robot software development. However, its difficulty grows exponentially along with system complexity. To facilitate the development of a modular, rather than monolithic, behavior system, proper software tools need to be introduced. This paper proposes combination of a well-known finite state machine and a custom decision-making tool for implementing adaptive robot behaviors. The notion of automatic behavior adaptation reflects the capability of the robot to adapt during runtime based on the individual end-user, as well as the particular context of use, therefore delivering the most appropriate interaction experience. While each tool on its own can be used towards that aim, a unified approach that combines them simplifies the task at hand and distinguishes the roles of designers and programmers. To demonstrate the methods’ applicability, a concrete example of their combined use is presented.
KeywordsState Machine Adaptation Behavior Decision-Making
Unable to display preview. Download preview PDF.
- 1.Kent, A., Williams, J.G. (eds.): Encyclopedia of Computer Science and Technology. Applications of Artificial Intelligence to Agriculture and Natural Resource Management to Transaction Machine Architectures, vol. 25(suppl. 10). CRC Press (1991)Google Scholar
- 3.Armbrust, C., Schmidt, D., Berns, K.: Generating Behaviour Networks from Finite-State Machines. In: Proceedings of the German Conference on Robotics (Robotik), Munich, Germany (2012)Google Scholar
- 4.Bagnell, J.A., Cavalcanti, F., Cui, L., Galluzzo, T., Hebert, M., Kazemi, M., Klingensmith, M., Libby, J., Liu, T.Y., Pollard, N., Pivtoraiko, M., Valois, J.-S., Zhu, R.: An Integrated System for Autonomous Robotics Manipulation. In: International Conference on Intelligent Robots and Systems (IROS), pp. 2955–2962 (2012)Google Scholar
- 6.Datta, C., Jayawardena, C., Kuo, I.H., MacDonald, B.A.: RoboStudio: A Visual Programming Environment for Rapid Authoring and Customization of Complex Services on a Personal Service Robot. In: International Conference on Intelligent Robots and Systems (IROS), pp. 2352–2357 (2012)Google Scholar
- 7.Vincze, M.: HOBBIT - Towards a robot for Aging Well. In: ICRA 2013, Workshop on Human Robot Interaction (HRI) for Assistance Robots and Industrial Robots, Karlsruhe, May 6-10 (2013)Google Scholar
- 8.Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.: ROS: An open-source robot operating system. In: Open-Source Software Workshop Int. Conf. Robotics and Automation, Kobe, Japan (2009)Google Scholar
- 10.Stephanidis, C.: The Concept of Unified User Interfaces. In: Stephanidis, C. (ed.) User Interfaces for All - Concepts, Methods, and Tools, pp. 371–388. Lawrence Erlbaum Associates, Mahwah (2001)Google Scholar