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8. Robot software architecture and programming

see resources lecture autonomy3

Goal: Complete desired tasks while monitoring and reacting to unexpected situations. Handle inputs and outputs (control/perception) from actuators and sensors in real-time2 and under uncertainty.

behavioural (reactive) control

sense-act

subsume / orvewrite behaviour

example Braintenberg machines

non-linear control functions -> complex behaviours

combining behaviours

  • Follow a human sensor: camera ; behavious follow human seen in camera
  • avoid obstacle bumpers - move away from wall
  • wander ecnoders - move forward and turn

Which one should have the priority?

Subsumption oprtator

Subsumption architecture

summary on behaviroual control

  • strenghts
  • weeknesses

event oriented programming

deliberative architecture

sense-plan-act architecture

task planning

HTN

primitive action

Three-tiered Architecture

This architecture contains a planning, an executive, and a behavioral control level that are hierarchically linked.

  1. Planning: this layer is at the highest-level, and focuses on task-planning for long-term goals.
  2. Executive: the executive layer is the middle layer connecting the planner and the behavioral control layers. The executive specifies priorities for the behav- ioral layer to accomplish a specific task. While the task may come directly from the planning layer, the executive can also split higher-level tasks into sub-tasks.
  3. Behavioral control: at the lowest-level. the behavioral control layer handles the implementation of low-level behaviors and is the interface to the robot’s actuators and sensors.

The primary advantage of this architecture is that it combines benefits of the behavioral-based subsumption architecture (i.e. reactive planning) with better long-term planning capabilities (i.e. resulting from the planning level). Each of these levels will now be discussed in slightly further detail, however in practice the division among these levels is often quite blurred!

reflexive vs delibertive approach: pros and cons

S1 and S2 theory

hybrid architecure

Client-Server vs Publish-Subscribe

Lets solve a bigger problem ì AAAI Competition: Pick Up the Trash ì Problem Specs
ì Coca Cola cans, collect them and deposit them in the trashcan (changes year-to-year) ì What are some primitive behaviors
we might need? LOLA (AAAI 1995 Winner) GaTech (AAAI 1994 Winner) Example based on
Murphy 2000, section 5.5

FSM states:

  • start
  • wander for trash
  • move for trash
  • grab trash
  • drop trash
  • move to tcan
  • wander for Tcan