BehaviorBased Control:

1
Behavior-Based Control

• Examples from Navigation, Learning, and Group
  Behavior
• by Maja Mataric
• presented by Jeff Wallace

2
Behavior-Based Control

• Behavior is in the eye of the beholder.
• No standardized definitions
• Extension of reactive architecture, but between
  reactive and deliberative.

3
BBC General Principles

• No centralized symbolic representations.
  Distributed architecture.
• More time-extended than reactive architectures.
• Behaviors are higher-level than reactions, so
  emergent properties are higher-level

4
General Principles (contd)

• Behaviors coordinated. Not serial.
• Coordination requires arbitration. This is the
  crux move.
• Arbitration mechanisms priority hierarchy,
  voting, spreading activation
• behaviors interact with each other via the world
  not internally.

5
Experimental Examples

• Toto navigation path-finding.
• Nerd Herd Cooperative group behaviors (20
  robots).
• Don Group Task learning in a small group (4
  robots).

6
Nerd Herd Basic Behaviors

• Safe-wandering (obstacle-avoidance)
• Following
• Aggregation
• Dispersion
• Homing

7
Nerd Herd Bots

• IRs
• Contact sensors
• Grippers
• Position sensors
• Radio communication
• Wheels

8
You, Robot

• Your ex-girlfriend was right youre an
  emotionless robot.
• But youre not alone.
• There are others like you!
• Welcome to the Nerd Herd2...