Development of complex robotic systems using the behavior-based control architecture iB2C

@article{Proetzsch2010DevelopmentOC,
  title={Development of complex robotic systems using the behavior-based control architecture iB2C},
  author={Martin Proetzsch and Tobias Luksch and Karsten Berns},
  journal={Robotics and Autonomous Systems},
  year={2010},
  volume={58},
  pages={46-67}
}
This paper presents a development methodology for complex robotic systems using the behavior-based control architecture iB2C (integrated Behavior-Based Control). It is shown how architectural principles support several behavior-based mechanisms, e.g. coordination mechanisms, behavior interaction, and hierarchical abstraction. Furthermore, design guidelines and structural patterns are presented which support the design and implementation process. The provided analysis tools and visualization… CONTINUE READING

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