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Adaptive behavior of autonomous mobile systems with new action selection problem solution

Szynkarczyk P.

Control and Cybernetics

2004

Vol. 33, no 2

387-420

The article deals with the issue of controlling the autonomous mobile systems. Considered are the problems focusing around the use of controllers with distributed architecture. Contrary to hierarchical architecture, all layers of distributed controller are operating simultaneously, and have an access to both the receptors and to the effectors of the controlled autonomous mobile system. Simultaneous operation of all layers of the distributed architecture controller entails the emergence of the action selection problem. This problem consists in continuous taking decisions: which one of the layers, or which layers of the controller, should have an influence at given moment on the movement of the controlled mobile system. A proposal for a new solution of this problem is discussed. The results of experiments with the use of real mobile robot are presented.