Development environments for autonomous mobile robots: A survey
Autonomous Robots
First steps toward natural human-like HRI
Autonomous Robots
Investigating the Adaptiveness of Communication in Multi-Agent Behavior Coordination
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
The Behaviour-Based Control Architecture iB2C for Complex Robotic Systems
KI '07 Proceedings of the 30th annual German conference on Advances in Artificial Intelligence
Development of complex robotic systems using the behavior-based control architecture iB2C
Robotics and Autonomous Systems
Dynamic Behavior Sequencing for Hybrid Robot Architectures
Journal of Intelligent and Robotic Systems
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Behavior selection is typically a "built-in" feature of behavior-based architectures and hence, not amenable to change. There are, however, circumstances where changing behavior selection strategies is useful and can lead to better performance. In this paper, we demonstrate that such dynamic changes of behavior selection mechanisms are beneficial in several circumstances. We first categorize existing behavior selection mechanisms along three dimensions and then discuss seven possible circumstances where dynamically switching among them can be beneficial. Using the agent architecture framework activation, priority, observer, and component (APOC), we show how instances of all (nonempty) categories can be captured and how additional architectural mechanisms can be added to allow for dynamic switching among them. In particular, we propose a generic architecture for dynamic behavior selection, which can integrate existing behavior selection mechanisms in a unified way. Based on this generic architecture, we then verify that dynamic behavior selection is beneficial in the seven cases by defining architectures for simulated and robotic agents and performing experiments with them. The quantitative and qualitative analyzes of the results obtained from extensive simulation studies and experimental runs with robots verify the utility of the proposed mechanisms.