Abstract
This paper describes a highly modular hierarchical behavior-based control system for robots. Key features of the architecture include: easy addition/removal of behaviors, easy addition of specialized behaviors, easy to program hierarchical structure, and ability to execute non-conflicting behaviors in parallel. The architecture uses a unique reward based combinator to arbitrate amongst competing behaviors such as to maximize reward. This behavior system was successfully used in our Sony Legged League entry in RoboCup 2000 where we came in third losing only a single game.
This research was sponsored by Grants Nos. DABT63-99-1-0013, F30602-98-2-0135 and F30602-97-2-0250. The information in this publication does not necessarily reflect the position of the funding agencies and no official endorsement should be inferred.
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© 2002 Springer-Verlag Berlin Heidelberg
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Lenser, S., Bruce, J., Veloso, M. (2002). A Modular Hierarchical Behavior-Based Architecture. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_54
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DOI: https://doi.org/10.1007/3-540-45603-1_54
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