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Proceedings Paper

A Computational Structure For Enforcing Reactive Behavior In A Mobile Robot
Author(s): Tracy L. Anderson; Max Donath
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Paper Abstract

An approach is presented which allows for the construction of robot behavior in terms of both spatially and temporally ordered sets of primitive reflexive behaviors. Each primitive reflexive behavior is based upon a stimulus/response model in which the devices which affect behavior are separated from the mechanism for controlling behavior. The approach allows for the explicit representation of complex forms of behavior through the use of abstraction. Behavior is represented in terms of component behaviors and acts to enforce declarative constraints between when a particular component behavior is active and when specific events occur in the environment and/or internal to the robot. In addition, we discuss the need for reactive behavior and illustrate how such behavior can be constructed using the proposed representation.

Paper Details

Date Published: 10 March 1989
PDF: 13 pages
Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949116
Show Author Affiliations
Tracy L. Anderson, University of Minnesota (United States)
Max Donath, University of Minnesota (United States)

Published in SPIE Proceedings Vol. 1007:
Mobile Robots III
William J. Wolfe, Editor(s)

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