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Authors: Christopher Armbrust ; Lisa Kiekbusch and Karsten Berns

Affiliation: University of Kaiserslautern, Germany

ISBN: 978-989-8425-75-1

Keyword(s): Behaviour-based, Activity sequences, Behaviour sequences, Autonomous off-road robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: In this paper, the problem of employing behaviour-based approaches to realise complex, deliberative functionalities on high navigation layers is addressed. Behaviour-based architectures typically target at the lower, more reactive aspects of robot navigation. Hence, it is usually not possible to profit from the advantages of behaviours at higher layers. The authors believe that this limitation is not necessary and suggest the use of behaviour activity sequences as a solution. As central element for the realisation of these sequences, a special generic coordination behaviour is introduced in this paper. It is explained how behaviour activity sequences can be used to generate robot motions as well as to recognise certain situations which a robot may encounter. As examples, the behaviour-based generation of turning manoeuvres and the recognition of dead ends with behaviour activity sequences are shown. The developed concepts demonstrate how to benefit from the typical properties of behav iour-based approaches without limiting the developer to mainly reactive systems. (More)

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Paper citation in several formats:
Armbrust, C.; Kiekbusch, L. and Berns, K. (2011). USING BEHAVIOUR ACTIVITY SEQUENCES FOR MOTION GENERATION AND SITUATION RECOGNITION.In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 120-127. DOI: 10.5220/0003443501200127

@conference{icinco11,
author={Christopher Armbrust. and Lisa Kiekbusch. and Karsten Berns.},
title={USING BEHAVIOUR ACTIVITY SEQUENCES FOR MOTION GENERATION AND SITUATION RECOGNITION},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={120-127},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003443501200127},
isbn={978-989-8425-75-1},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - USING BEHAVIOUR ACTIVITY SEQUENCES FOR MOTION GENERATION AND SITUATION RECOGNITION
SN - 978-989-8425-75-1
AU - Armbrust, C.
AU - Kiekbusch, L.
AU - Berns, K.
PY - 2011
SP - 120
EP - 127
DO - 10.5220/0003443501200127

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