Internalized plans for communication-sensitive robot team behaviors

Wagner, Alan R.; Arkin, Ronald C.

doi:10.1109/iros.2003.1249242

Cited by 8 publications

(5 citation statements)

References 12 publications

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“…Some work has investigated alternative means of combining deliberative information directly into the reactive layer [25,28]. These plans provided a navigational bias into a reactive controller, which served as a means of influencing the expression of the currently executing behavioral assemblage while still allowing other reactive behaviors, such as obstacle avoidance, to be active.…”

Section: Hybrid Reactive-deliberative Architecturesmentioning

confidence: 99%

Biasing behavioral activation with intent for an entertainment robot

Ulam

Arkin

2008

Intel Serv Robotics

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Deliberate control of an entertainment robot presents a special problem in balancing the requirement for intentional behavior with the existing mechanisms for autonomous action selection. It is proposed that the intentional biasing of activation in lower-level reactive behaviors is the proper mechanism for realizing such deliberative action. In addition, it is suggested that directed intentional bias can result in goal-oriented behavior without subsuming the underlying action selection used to generate natural behavior. This objective is realized through a structure called the intentional bus. The intentional bus serves as the interface between deliberative and reactive control by realizing highlevel goals through the modulation of intentional signals sent to the reactive layer. A deliberative architecture that uses the intentional bus to realize planned behavior is described. In addition, it is shown how the intentional bus framework can be expanded to support the serialization of planned behavior by shifting from direct intentional influence for plan execution to attentional triggering of a learned action sequence. Finally, an implementation of this architecture, developed and tested on Sony's humanoid robot QRIO, is described.

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Section: Hybrid Reactive-deliberative Architecturesmentioning

confidence: 99%

Biasing behavioral activation with intent for an entertainment robot

Ulam

Arkin

2008

Intel Serv Robotics

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“…Output advice is then determined by multiplying the advice for each individual plan at a location by a gain as determined by the decision tree. The detailed use of parallelinternalized plans appears in [13].…”

Section: Plan Elementsmentioning

confidence: 99%

“…After all the locations necessary for the reconnaissance mission have been collected, the individual internalized plans are compiled [13]. Upon completion, a resource file is generated.…”

Section: B Creating a Plan For Reconnaissancementioning

confidence: 99%

“…Rather than simply implementing a planning algorithm on top of a reactive architecture, the method outlined in this paper both extends and generalizes an earlier hybrid approach. In previous research [13], internalized plans were integrated with Arkin's motor schema architecture [2] using the Missionlab [10] behavior specification software. An internalized plan is created by running a uniform cost search algorithm to produce a gradient field on a grid mesh.…”

Section: Introductionmentioning

confidence: 99%

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Multi-Robot Communication-Sensitive Reconnaissance

Wagner¹,

Arkin²

2004

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“…While some research has looked at means of communications recovery such as the methods used in maintaining line of sight networks [4,14,18] and many efforts have focused on proactive means of preventing communications failures [3,20], these may not be wholly suitable in highly dynamic and unknown environments.…”

mentioning

confidence: 99%