Abstract
In this paper, we propose a new behavior-based architecture with three-grouped (reflexive, purposive and adaptive) agents that realizes both efficiency in attaining the mission of the robot and robustness against various kinds of failures that may occur in a dynamic environment. Grouped agents are directly connected to the special agent (Motion Executor) which determines the motion command of the robot.
The reflexive-level group consists of agents with contact, infrared and ultrasonic sensors which maintain the minimal safety of the robot. The role of the purposive-level group is to efficiently navigate the robot to the final goal. The adaptive-level group stands by to recover from failure in the purposive-level group or deadlock situations. Individual agent-arbitration mean is prepared for each group in the Motion Executor.
Experimental results show the effectiveness of the architecture.
