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Abstract : |
Behavior-based systems (BBS) have been eective in a variety of applications, but due to their limited use of representation they have not been applied much for more complex problems, such as ones involving temporal sequences, or hierarchical task representations. This paper presents a Hierarchical Abstract Behavior Architecture that allows for the representation and execution of complex, sequential, hierarchically structured tasks within a behavior-based framework. The architecture, obtained by introducing the notion of abstract behaviors, also enables reusability of behaviors across dierent tasks. The basis for task representation is the behavior network construct which encodes complex, hierarchical plan-like strategies. The approach is validated in experiments on a Pioneer 2DX mobile robot., |
