Building symbolic primitives with continuous control routines
Proceedings of the first international conference on Artificial intelligence planning systems
The use of hierarchies for action selection
Adaptive Behavior
Adaptive Behavior - Special issue on computational neuroethology
Sensorimotor transformations in the worlds of frogs and robots
Artificial Intelligence
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This paper proposes a behavior based architecture for robot control which uses dynamic hierarchies of small schemas to generate autonomous behavior. Each schema is a flow of execution with a target, can be turned on and off, and has several parameters which tune its behavior. Low level schemas are woken up and modulated by upper level schemas, forming a hierarchy for a given behavior. At any time there are several awake schemas per level, running concurrently, but only one of them is activated by environment perception. When none or more than one schema wants to be activated then upper level schema is called for arbitration. This paper also describes an implementation of the architecture and its use on a real robot.