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Dual dynamics: Designing behavior systems for autonomous robots
Authors:H. Jaeger  T. Christaller
Affiliation:(1) German National Research Center for Information Technology (GMD), FIT.KI Schloss Birlinghoven, D-53754 Sankt Augustin, Germany
Abstract:This paper describes the “dual dynamics” (DD) design scheme for robotic behavior control systems. Behaviors are formally specified as dynamical systems using differential equations. A key idea for the DD scheme is that a robotic agent can work in different “modes,” which lead to qualitatively different behavioral patterns. Mathematically, transitions between modes are bifurcations in the control system. This work was presented, in part, at the Second International Symposium on Artificial Life and Robotics, Oita, Japan, February 18–20, 1997
Keywords:Behavior  Control  Dynamical systems
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