Regulated Reactive Robotics: a formal framework
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2011-07-01
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en
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Abstract
In this paper we introduce the Regulated Reactive approach to robotics, which adds regulation (local
control) to the existing Reactive Approach. Furthermore, we present a formal framework for structure-level
descriptions of systems and relate those to hardware requirements. We prove that for any given behavior
there exists a regulated reactive system that requires at most as many resources as an optimal reactive
or hierarchical system. Furthermore, we show that for particular behaviors in which common conditions
are true, reactive and hierarchical systems require more space resources than necessary as for those tasks
there exist regulated reactive systems that require less resources. This makes regulated reactive systems an
attractive framework for robotics design.
Keywords: Reactive Robotics, Hierarchical Robotics, Regulated Reactive Robotics
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Faculteit der Sociale Wetenschappen