The Behaviour-Based Control Architecture iB2C for Complex Robotic Systems

Authors:
Martin Proetzsch;Tobias Luksch;Karsten Berns
Affiliations:
University of Kaiserslautern, Robotics Research Lab, Gottlieb-Daimler-Str., 67663 Kaiserslautern, Germany;University of Kaiserslautern, Robotics Research Lab, Gottlieb-Daimler-Str., 67663 Kaiserslautern, Germany;University of Kaiserslautern, Robotics Research Lab, Gottlieb-Daimler-Str., 67663 Kaiserslautern, Germany
Venue:
KI '07 Proceedings of the 30th annual German conference on Advances in Artificial Intelligence
Year:
2007

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Abstract

This paper presents the behaviour-based control architecture iB2C (integrated Behaviour-Based Control) used for the development of complex robotic systems. The specification of behavioural components is described as well as the integration of behaviour coordination and hierarchical abstraction. It is considered how the design process can be supported by guidelines and by tools for development as well as analysis. Finally some application platforms are presented.