Artificial intelligence and mobile robots
An Behavior-based Robotics
A Modular Hierarchical Behavior-Based Architecture
RoboCup 2001: Robot Soccer World Cup V
Using Hierarchical Dynamical Systems to Control Reactive Behavior
RoboCup-99: Robot Soccer World Cup III
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Probabilistic Decision Making in Robot Soccer
RoboCup 2007: Robot Soccer World Cup XI
Improving Robot Self-localization Using Landmarks' Poses Tracking and Odometry Error Estimation
RoboCup 2007: Robot Soccer World Cup XI
Enhancing Plan Execution in Dynamic Domains Using Model-Based Reasoning
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Development of complex robotic systems using the behavior-based control architecture iB2C
Robotics and Autonomous Systems
Modeling adaptive autonomous agents
Artificial Life
Hi-index | 0.00 |
A real-time hybrid control architecture for biped humanoid robots is proposed. The architecture is modular and hierarchical. The main robot's functionalities are organized in four parallel modules: perception, actuation, world-modeling, and hybrid control. Hybrid control is divided in three behavior-based hierarchical layers: the planning layer, the deliberative layer, and the reactive layer, which work in parallel and have very different response speeds and planning capabilities. The architecture allows: (1) the coordination of multiple robots and the execution of group behaviors without disturbing the robot's reactivity and responsivity, which is very relevant for biped humanoid robots whose gait control requires real-time processing. (2) The straightforward management of the robot's resources using resource multiplexers. (3) The integration of active vision mechanisms in the reactive layer under control of behavior-dependant value functions from the deliberative layer. This adds flexibility in the implementation of complex functionalities, such as the ones required for playing soccer in robot teams. The architecture is validated using simulated and real Nao humanoid robots. Passive and active behaviors are tested in simulated and real robot soccer setups. In addition, the ability to execute group behaviors in real- time is tested in international robot soccer competitions.