Competition and co-operation-a model for behaviour-based robot controllers

Abstract

This paper describes work carried out at the University of Kent to examine possible improvements to Brooks' Subsumption Architecture (1986), with the aims of improving the re-usability of behavioural components across robot platforms, reducing code repetition, and providing a 'smooth' mechanism for switching between behaviours. This work is based upon the use of weighted sum 'combiner' nodes along with traditional subsumption units such as the suppressor, in conjunction with the use of a vehicle-independent vector representation of data within the controller. By using this modified architecture a behavioural controller has been designed and implemented on a pair of robots, with only minor tailoring for each of the robots.