In behavior-based robotics the control of a robot is shared between a set of purposive perception-action units, called behaviors. Based on selective sensory information, each behavior produces immediate reactions to control the robot with respect to a particular objective, i.e., a narrow aspect of the robot's overall task such as obstacle avoidance or wall following. Behaviors with different and possibly incommensurable objectives may produce conflicting actions that are seemingly irreconcilable. Thus a major issue in the design of behavior-based control systems is the formulation of effective mechanisms for coordination of the behaviors' activities into strategies for rational and coherent behavior. This is known as the action selection problem (also refereed to as the behavior coordination problem) and is the primary focus of this overview paper. Numerous action selection mechanisms have been proposed over the last decade and the main objective of this document is to give a qualitat...
|
4701
|
Probabilistic Reasoning in Intelligent Systems: Networks of Plausible Inference
– Pearl
- 1988
|
|
2229
|
A robust layered control system for a mobile robot
– Brooks
- 1986
|
|
1583
|
Robot Motion Planning
– Latombe
- 1991
|
|
615
|
Real-time obstacle avoidance for manipulators and mobile robots
– Khatib
- 1986
|
|
455
|
The Society of Mind
– Minsky
- 1986
|
|
310
|
Automatic programming of behavior-based robots using reinforcement learning, Artificial lntelligence
– Mahadevan, Connell
- 1992
|
|
206
|
Situated agents can have goals
– Maes
- 1959
|
|
170
|
Gps: a program that simulates human thought
– Newell, Simon
- 1963
|
|
165
|
How to do the right thing
– Maes
- 1990
|
|
155
|
Behavior-based control: Examples from navigation, learning, and group behavior
– Matarić
- 1997
|
|
151
|
DERVISH an office-navigating robot
– Nourbakhsh, Powers, et al.
- 1995
|
|
148
|
Structure Control for Autonomous Robots
– Simmons
- 1994
|
|
148
|
The New Science of Management Decision
– SIMON
- 1977
|
|
142
|
CIRCA: A cooperative intelligent real-time control architecture
– Musliner, Durfee, et al.
- 1993
|
|
137
|
Integrating behavioral, perceptual, and world knowledge in reactive navigation
– Arkin
- 1991
|
|
132
|
DAMN: A Distributed Architecture for Mobile Navigation
– Rosenblatt
- 1995
|
|
124
|
Motor schema based navigation for a mobile robot: An approach to programming by behavior
– Arkin
- 1987
|
|
119
|
Computational Mechanisms for Action Selection
– Tyrrell
- 1993
|
|
116
|
On the application of harmonic functions to robotics
– Connolly, Grupen
- 1993
|
|
100
|
Y.Y.: Multiobjective Decision Making. Theory and Methodology
– Chankong, Haimes
- 1983
|
|
90
|
The behavior language; user's guide
– Brooks
- 1990
|
|
89
|
A multivalued logic approach to integrating planning and control
– Saffiotti, Konolige, et al.
- 1995
|
|
76
|
Action selection methods using reinforcement learning
– Humphrys
- 1996
|
|
73
|
Plan-Guided Reaction
– Payton, Rosenblatt, et al.
- 1990
|
|
54
|
Internalized plans: a representation for action resources
– Payton
- 1990
|
|
51
|
Temporal Coordination of Perceptual Algorithms for Mobile Robot Navigation
– Arkin, MacKenzie
- 1994
|
|
48
|
Scaling up reinforcement learning for robot control
– Lin
- 1993
|
|
44
|
A fuzzy logic based extension to Payton and Rosenblatt 's command fusion method for mobile robot navigation
– Yen, Pfluger
- 1995
|
|
43
|
A dynamical systems approach to task-level system integration used to plan and control autonomous vehicle motion. Robotics and Autonomous Systems
– Schoner, Dose
- 1992
|
|
40
|
Multiple Objective Action Selection & Behavior Fusion using Voting
– Pirjanian
- 1998
|
|
30
|
Animal behavior as a paradigm for developing robot autonomy
– Anderson, Donath
- 1990
|
|
28
|
Multi-robot target acquisition using multiple objective behavior coordination
– Pirjanian, Mataric
- 2000
|
|
26
|
Combining Multiple Goals in a Behavior-Based Architecture
– Rosenblatt, Thorpe
- 1995
|
|
25
|
Representing and analyzing action plans as networks of concurrent processes
– Lyons
- 1993
|
|
25
|
Behaviorist intelligence and the scaling problem
– Tsotsos
- 1995
|
|
23
|
Robot Navigation by Conditional Sequencing
– Gat, Dorais
- 1994
|
|
22
|
Sensor planning with Bayesian decision theory
– Kristensen
- 1995
|
|
18
|
An architecture for behavior coordination learning
– Hoff, Bekey
- 1995
|
|
18
|
Context-sensitive reasoning for autonomous agents and cooperative distributed problem solving
– Turner
- 1993
|
|
15
|
The winning robots from the 1993 robot competition
– Nourbakhsh, Morse, et al.
- 1993
|
|
15
|
Coordination of Distributed Fuzzy Behaviors in Mobile Robot Control
– Tunstel
- 1995
|
|
13
|
What are plans for? Robotics and Autonomous Systems,6:17-34
– Agre, Chapman
- 1990
|
|
11
|
Specification and Execution of Multiagent Missions
– MacKenzie, Cameron, et al.
- 1995
|
|
11
|
The Uses of Fuzzy Logic in Autonomous Robot Navigation: a catalogue raisonn'e
– Saffiotti
- 1997
|
|
10
|
Adaptive Execution in Dynamic Domains
– Firby
- 1989
|
|
7
|
The dynamic approach to autonomous robot navigation
– Steinhage, Schoner
- 1997
|
|
7
|
Koseck'a and Ruzena Bajcsy. Discrete Event Systems for Autonomous Mobile Agents
– Jana
- 1993
|
|
6
|
Global behavior via cooperative local control
– Ferrell
- 1995
|
|
6
|
A multivalued logic approach tointegrating planning and control
– oti, Konolige, et al.
- 1995
|
|
5
|
The Evolving Concept of Optimality
– Keen
- 1977
|
|
