Scaling the dynamic approach to path planning and control: Competition among behavioral constraints
- Univ. of Pennsylvania, Philadelphia, PA (United States). GRASP Lab.
- Kungliga Tekniska Hoegskolan, Stockholm (Sweden). Centre for Autonomous Systems
The dynamic-systems approach to robot path planning defines a dynamics of robot behavior in which task constraints contribute independently to a nonlinear vector field that governs robot actions. The authors address problems that arise in scaling this approach to handle complex behavioral requirements. They propose a dynamics that operates in the space of task constraints, determining the relative contribution of each constraint to the behavioral dynamics. Competition among task constraints is able to deal with problems that arise when combining constraint contributions, making it possible to specify tasks that are more complex than simple navigation. To demonstrate the utility of this approach, the authors design a system of two agents to perform a cooperative navigation task. They show how competition among constraints enables agents to make decisions regarding which behavior to execute in a given situation, resulting in the execution of sequences of behaviors that satisfy task requirements. The authors discuss the scalability of the competitive-dynamics approach to the design of more complex autonomous systems.
- OSTI ID:
- 320864
- Journal Information:
- International Journal of Robotics Research, Vol. 18, Issue 1; Other Information: PBD: Jan 1999
- Country of Publication:
- United States
- Language:
- English
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