A useful autonomous vehicle with a hierarchical behavior control

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11 Citations (Scopus)


This paper describes a vehicle to perform a simple task using a decision control composed of a behavior hierarchy. First the model is presented. It is based on two fundamental components: The behavior module defining how each behavior element is implemented; and the blocker which is the basic component of the arbitration system, responsible for behavior selection. Behavior modules are composed of two submodules, one to produce actuator actions and other to produce priorities associated to actions. They also have three parameters whose values can be changed prior to execution, as a means of configuring a particular control architecture. Competition among behaviors is resolved by arbitration structures, each one consisting of a series of blockers working in a completely distributed way. The arbitration system can be automatically generated from the mere enumeration of the constituting behaviors. The development of the model in order to support behavior hierarchies is also presented as well as the possibility of using global variables. Then the prototype-a vehicle to clear away film boxes-is described in detail namely all the behaviors constituting its control. Finally some conclusions based on the obtained results are presented.

Original languageEnglish
Title of host publicationAdvances in Artificial Life - 3rd European Conference on Artificial Life, Proceedings
EditorsPablo Chacon, Juan Julian Merelo, Federico Moran, Alvaro Moreno
PublisherSpringer Verlag
Number of pages15
ISBN (Print)3540594965, 9783540594963
Publication statusPublished - 1 Jan 1995
Event3rd European Conference on Artificial Life, ECAL 1995 - Granada, Spain
Duration: 4 Jun 19956 Jun 1995

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference3rd European Conference on Artificial Life, ECAL 1995


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