10.1.1.62.646 - E c ien tB ehav io ra lP rocesses A nd rea...

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Unformatted text preview: E c ien tB ehav io ra lP rocesses A nd rea sB irkH o lgerK ennLu cS tee ls VUBA I- lab P le in laan ,G B ru sse ls ,B e lg ium f b irk ,k enn ,stee ls g @ a rt i.vub .a c .b e A b strac t T h epap erin trodu cesnov e lim p lem en ta t ion techn iqu esfo rbu ild ingb ehav io r-o r ien tedau- tonom ou ssy stem su s ingadynam ica lsy stem s po in to fv iew .T h ey in c lud ead ist in c t ionb e- tw eencon tro l-p rocesses ,w h ich im p lem en td i- rec t ly low- lev e lsen so r i-m o to rfun c t ion ,and b ehav io r-p rocessesw h ich im p lem en tsp ec icb e- hav io ra lstra teg ies ,andexp lic itaccesstoac tua l cy c let im etoenab leh igh erec ien cyandm o re ex ib ility inb ehav io rstra teg ies .T h em a jo r in- nova t ion in trodu ced in th epap erhow ev ercon- cern sth eex ecu t iono fp rocessesa td ieren tt im e- sca les .A sch edu linga lgo r ithm isp resen ted tha t add ressesth enon-tr iv ia lp rob lem how rea l-t im e p rocessesa td ieren tt im e-sca lescanop t im a llyb e g iv enp rocess ing resou rces . .In trodu c t ion P rog ramm ingb ehav io r-ba sedsy stem su s- ingth efram ew o rko fdynam ica lsy stem sha s b eenadvoca tedbya la rgenum b ero fre- sea rch ersinth ee ld(M ey erandG u illo t , , W ilson , , M cF a r land , , P o llack , , B eer , )andd em on stra tedincon cre te robo t icsy stem s (G a llagh erandB eer , , G han ea-H ercockandB a rn es , ) .T h eadvan tageo f dynam ica lsy stem s istha t itenab lesa t igh t in terac t ion b e tw een sen s ingandac tua t ingand sm oo thb ehav io r in teg ra t ion .H ow ev er ,ifw ew an ttobu ild tru lycom p lex sy stem sw ith in th isdynam ica lsy stem sp ersp ec t iv ew e n eedbo thad equa teh igh er lev e lab strac t ion scap tu red inasu itab lep rog ramm ing language .W ea lson eed to w o rryabou trunn ing th esep rog ram sonphy s ica lrobo ts w h ichm ean stha tw en eedad equa tehand lingo fth e phy s ica lt im ea sp ec tsa sw e lla ssuppo rtfo rv irtua l pa ra lle lex ecu t ion ,sen so r/m o to r- in ter faces ,and th e exp lo ita t iono fs id e-eec ts . Ingen era l,b ehav io r-o r ien tedp rog ramm ing lan- guageslik e fo rexam p leth esub sum p t iona rch itec- tu re(B rook s , ,B rook s , )o rm o to rsch em a s (A rk in , ,A rk in , )d ea lw ith th esea sp ec ts . A com p le te lyd ieren tsc ien t ica rea ,nam e lyth e e ldo frea l-t im esy stem s(B u rn sandW e lling s , , M e llicham p , ,Y oung , )inv est iga tesp rog ram- m ing suppo rt fo rabov e issu es ,esp ec ia lly from th ev iew- po in to fec ien t im p lem en ta t ionw ithgua ran teedqua l- it ieso fserv ice .T h ispap erd iscu ssesbo thb ehav io r- o r ien ted con cep tsand th e irec ien trea l-t im e im p lem en- ta t ion .W erepo rtonw o rk re la ted to th ep rocessd escr ip- t ion languagePD L (S tee ls , )w h ichw ehav eu sed in ou r labo ra to ry fo ra lm o sty ea rstobu ilda la rgeva r ie ty o fapp lica t ion s . T h erem a ind ero fth ispap er isstru c tu reda s fo llow s . In sec t ion tw o ,th econ cep tso...
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This note was uploaded on 10/12/2010 for the course CS 123245 taught by Professor Tswingzing during the Fall '10 term at Abraham Baldwin Agricultural College.

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10.1.1.62.646 - E c ien tB ehav io ra lP rocesses A nd rea...

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