The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

Research Paper #743

Title:Robust Intelligent Control Through the Use of a Behaviour Based Control Paradigm
Date:Nov 1993
Presented:Presented at an IEE colloquium on "Advances in Robust Control", Nov. 1993
Abstract:This paper proposes a behaviour based strategy as a new approach to the problem of robust intelligent control in robotics. The classical paradigm is outlined and contrasted with a description of the new behaviour based paradigm. Finally an example system constructed at Edinburgh is described which uses hybrid control for assembly. It consists of a classical planner for high level planning connected to a series of reactive, behaviour based agents which control the robot movements. This control system has been demonstrated to be remarkably robust in performance.

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