. Specifying a reactive behavioral configuration for use by a multiagent team requires both a careful choice of the behavior set and the creation of a temporal chain of behaviors which executes the mission. This difficult task is simplified by applying an object-oriented approach to the design of the mission using a construction called an assemblage and a methodology called temporal sequencing. The assemblage construct allows building high level primitives which provide abstractions for the designer. Assemblages consist of groups of basic behaviors and coordination mechanisms that allow the group to be treated as a new coherent behavior. Upon instantiation, the assemblage is parameterized based on the specific mission requirements. Assemblages can be re-parameterized and used in other states within a mission or archived as high level primitives for use in subsequent projects. Temporal sequencing partitions the mission into discrete operating states with perceptual triggers causing tra...

Abstract—In this paper and attached video, we present a third-generation expert system named Knowledge Amplification by Structured Expert Randomization (KASER) for which a patent has been filed by the U.S. Navy’s SPAWAR Systems Center, San Diego, CA (SSC SD). KASER is a creative expert system. It is capable of deductive, inductive, and mixed derivations. Its qualitative creativity is realized by using a tree-search mechanism. The system achieves creative reasoning by using a declarative representation of knowledge consisting of object trees and inheritance. KASER computes with words and phrases. It possesses a capability for metaphor-based explanations. This capability is useful in explaining its creative suggestions and serves to augment the capabilities provided by the explanation subsystems of conventional expert systems. KASER also exhibits an accelerated capability to learn. However,

This report concentrates on centered in control architectures for autonomous robots. A control architecture is the part of a control system in an autonomous robot which is in charge of proposing correct actions in order to achieve its mission. Concretely, this report focuses on Behaviour-based Robotics, a methodology for building control architectures. The intention of this report is not to survey the state of the art in this field, but rather it tries to give an overall description of the subject and to show implementations of different behaviour-based approaches. In particular, four architectures have been implemented to achieve a simple mission in a computer-simulated environment. These behaviour-based architectures are Subsumption, Action Selection Dynamics, Motor Schema and Process Description Language. The purpose of this report is to illustrate the field of Behaviour-based Robotics through theoretic aspects and representative implemented examples