• Corpus ID: 16008592

An overview of Behavioural-based Robotics with simulated implementations on an Underwater Vehicle

  title={An overview of Behavioural-based Robotics with simulated implementations on an Underwater Vehicle},
  author={Marc Carreras and P{\'e}rez and Joan Batlle I Grabulosa},
A hybrid modular control architecture HMAS is proposed, aimed to be a conceptual framework for the design of complex behaviours of embodied agents based on the behaviour-based control paradigm and combines advantages of several similar architectures known from the literature.
Hybrid coordination of reinforcement learning-based behaviors for AUV control
  • M. Carreras, J. Batlle, P. Ridao
  • Engineering, Computer Science
    Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
  • 2001
The feasibility of applying the hybrid coordination method with a 3D-navigation to an autonomous underwater vehicle (AUV) with good performance on behavior coordination as well as the convergence of the behaviors is shown.
A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing
This research presents a new approach to control system design that looks beyond end-of-lifecycle performance and considers control system structure, flexibility, and extensibility.
A behavior-based scheme using reinforcement learning for autonomous underwater vehicles
A hybrid behavior-based scheme using reinforcement learning for high-level control of autonomous underwater vehicles (AUVs) with advantages of robustness and modularity in the competitive approach as well as efficient trajectories in the cooperative approach.
Control of an autonomous Robot using Multiple RL-based Behaviors
The paper shows real results of the SONQL algorithm learning a target following behavior, and attempts to solve the generalization problem by proposing the Semi-Online Neural-Q_learning algorithm (SONQL).
Integrated control of vehicle chassis systems
This research provides a foundation for the implementation of the designed controllers and coordinators in a prototype vehicle, and demonstrates good performance, and is well suited to a 'plug-and-play' philosophy.
An hybrid methodology for RL-based behavior coordination in a target following mission with an AUV
  • M. Carreras, J. Yuh, J. Batlle
  • Engineering
    MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295)
  • 2001
Proposes a behavior-based scheme for high-level control of autonomous underwater vehicles (AUVs). Two main characteristics can be highlighted in the control scheme. Behavior coordination is done


Minimalist mobile robotics - a colony-style architecture for an artificial creature
  • J. Connell
  • Computer Science
    Perspectives in artificial intelligence
  • 1990
This paper presents a meta-modelling architecture for distributed systems that automates the very labor-intensive and therefore time-heavy and expensive process of manually controlling an Arm via a distributed system.
A robot that walks; emergent behaviors from a carefully evolved network
  • R. Brooks
  • Computer Science
    Proceedings, 1989 International Conference on Robotics and Automation
  • 1989
This paper suggests one possible mechanism for analagous robot evolution by describing a carefully designed series of networks, each one being a strict augmentation of the previous one, which control a six-legged walking machine capable of walking over rough terrain and following a person passively sensed in the infrared spectrum.
Intelligence Without Reason
It is claimed that the state of computer architecture has been a strong influence on models of thought in Artificial Intelligence over the last thirty years.
A robust layered control system for a mobile robot
  • R. Brooks
  • Computer Science
    IEEE J. Robotics Autom.
  • 1986
A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
GARBI: a low cost ROV, constrains and solutions
  • 6ème Seminaire IARP en robotique sousmarine
  • 1996
Real-Time Obstacle Avoidance for Manipulators and Mobile
  • 1985
The MIT Encyclopedia of the Cognitive Sciences
Robot Shaping: An Experiment in Behavior Engineering
Robot Shaping proposes a new engineering discipline, "behavior engineering," to provide the methodologies and tools for creating autonomous robots.
Path Planning For A Vision-Based Autonomous Robot
  • R. Arkin
  • Computer Science
    Other Conferences
  • 1987
A hybrid vertex-graph free-space representation based upon the decomposition of free space into convex regions capable for use in both indoor and limited outdoor navigation and an overview of the UMASS mobile robot architecture (AuRA) is presented.
Situationally driven local navigation for mobile robots
This dissertation presents Navigation Templates and the transformation function as well as the needed support systems to demonstrate the usefulness of the technique for controlling the actions of a mobile robot operating in an uncertain world.