Behavioral Organization for Mobile Robotic Systems: An Attractor Dynamics Approach

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 6Sprache: EnglischTyp: PDF

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Autoren:
Grimm, Matthias A. (Hochschule Ruhr West, Mülheim an der Ruhr, Germany)
Iossifidis, Ioannis (Ruhr-Universität Bochum, Germany)

Inhalt:
In this paper we describe an architecture for behavioral organization based on dynamical systems. This architecture enables the generation of complex behavioral sequences, which is demonstrated using the example of approaching and passing a door. The behavioral sequence is generated by activating and deactivating the elementary behaviors dependent on sensory information and internal logical conditions. The architecture is demonstrated on a mobile KOALA robot and in simulation as well.