Ronald C. Arkin

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|New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, on robots in the laboratory and(More)
Motor schema are proposed a.s a basic unit. of behavior specification for the naviga.tion of a. nlobile rohot,. These are multiple concurrent processes whicll operat,e in conjt~nction wit,ll associated perceptua.1 schernas a n d COIIt.ribut,e independent,ly t,o the overall concerted act,ion of the vehicle. The motivabion behind tire use of schemas for this(More)
This paper reviews key concepts of the Autonomous Robot Architecture (AuRA). Its structure, strengths, and roots in biology are presented. AuRA is a hybrid deliberative/reactive robotic architecture that has been developed and reened over the past decade. In this article, particular focus is placed on the reactive behavioral component of this hybrid(More)
This paper provides the motivation and philosophy underlying the design of an ethical control and reasoning system potentially suitable for constraining lethal actions in an autonomous robotic system, so that its behavior will fall within the bounds prescribed by the Laws of War and Rules of Engagement. This research, funded by the U.S. Army Research(More)