Combining Deliberation, Reactivity, and Motivation in the Context of a Behavior-Based Robot Architecture
Arkin, Ronald C.
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This paper describes a hybrid mobile robot architecture that addresses three main challenges for robots living in human-inhabited environments: how to operate in dynamic and unpredictable environment, how to deal with high-level human commands, and how to be engaging and fun for human users. The architecture combines three components: deliberative planning, reactive control, and motivational drives. It has proven useful for controlling mobile robots in man-made environments. Results are reported for a fax delivery mission in a normal office environment.