A Highly Dependable Reactive Architecture Layer for Autonomous Robots based on an Artificial Analog Hormone System

摘要

In this paper we propose an implementation of a reactive robotic architecture layer in combination with an analog artificial hormone system as a control unit to distribute tasks reliable. The system of redundant decentrally organized analog behaviors results in both, real-time ability to autonomously navigate an unknown and dynamic environment and robustness by avoiding single points of failure. An implementation and simulation of a prototypic robot consisting of a few behaviors suggest the functionality of the concept.