Real-time behavior-based robot control |
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Authors: | Brian G Woolley Gilbert L Peterson Jared T Kresge |
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Affiliation: | 1.Department of Electrical and Computer Engineering,Air Force Institute of Technology,Wright-Patterson AFB,USA |
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Abstract: | Behavior-based systems form the basis of autonomous control for many robots, but there is a need to ensure these systems respond
in a timely manner. Unexpected latency can adversely affect the quality of an autonomous system’s operations, which in turn
can affect lives and property in the real-world. A robots ability to detect and handle external events is paramount to providing
safe and dependable operation. This paper presents a concurrent version of a behavior-based system called the Real-Time Unified
Behavior Framework, which establishes a responsive basis of behavior-based control that does not bind the system developer
to any single behavior hierarchy. The concurrent design of the framework is based on modern software engineering principles
and only specifies a functional interface for components, leaving the implementation details to the developers. In addition,
the individual behaviors are executed by a real-time scheduler, guaranteeing the responsiveness of routines that are critical
to the autonomous system’s safe operation. Experimental results demonstrate the ability of this approach to provide predictable
temporal operation, independent of fluctuations in high-level computational loads. |
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