Explain how behavior based robots can perform some task with

Explain how behavior based robots can perform some task without having a planned set of steps to accomplish it.

Solution

Behavior-based control has become one of the most popular approaches to embedded system control both in research and in practical applications. Behavior-based systems employ a collection of concurrently executing behaviors, processes connecting sensors, effectors, and each other. An important property of BBS is their ability to contain state, and thus also construct and use distributed representations. This ability has been underused, so BBS are yet to be explored and extended to their full potential. In this paper we present an approach for embedding representations into BBS without compromising their key philosophy of non-hybrid representation and real-time execution. Toward this end we developed a Hierarchical Behavior-Based Architecture that addresses two limitations of BBS, both having to do with the use of representation.

BBS behaviors typically consist of a collection of rules, taking inputs from sensors or other behaviors in the system, and sending outputs to the effectors, or other behaviors. The inputs determine the behavior’s activation status: whether it is on or not, and in some systems by how much. These are the activation conditions for behavior execution. For the purposes of the representation, we distinguish the following two types of activation conditions (behavior preconditions): world preconditions - conditions that activate the behaviors based on a particular state of the environment. sequential preconditions - task-dependent conditions that must be met before activating the behavior. These are often postconditions of other existing behaviors, which allow for the description of complex temporal sequences. Adapting specialized behaviors to general use requires a separation between the execution conditions and actions. We group these execution conditions and the behavior effects into abstract behaviors which have the role of activating the primitive behavior(s) that achieve the specified effects. In order to include behavior effects into the abstract representation we provide abstract behaviors with information about the behavior’s goals and a means of signaling their achievement to other behaviors that may utilize (and in fact rely on) these effects.