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Proceedings Paper

Dynamical systems for the behavioral organization of autonomous robot navigation
Author(s): Axel Steinhage; Gregor Schoener
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Paper Abstract

We present an architecture for the behavioral organization of autonomous robots. For the example of navigation, we describe how complex behavior can be broken up into multiple elementary behaviors. The overall behavior is generated by activating and deactivating the elementary behaviors dependent on both the sensor input and the intrinsic logics of the behavioral plan needed to fulfill the task. The elementary behaviors as well as their organization into behavioral sequences are achieved by appropriately designed nonlinear dynamical systems. We show how intrinsicly discrete functionalities like counting and decision making can be realized by nonlinear dynamical systems and how these dynamics can be coupled stably and flexibly.

Paper Details

Date Published: 9 October 1998
PDF: 12 pages
Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); doi: 10.1117/12.327012
Show Author Affiliations
Axel Steinhage, Ruhr-Univ. Bochum (Germany)
Gregor Schoener, Ctr. de Recherche en Neurosciences Cognitives (France)

Published in SPIE Proceedings Vol. 3523:
Sensor Fusion and Decentralized Control in Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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