The dynamic approach to autonomous robotics demonstrated on a low-level vehicle platform

摘要

The dynamic approach proposes a set of concepts with the help of which autonomous systems can be specified and designed. While the approach builds systems from elementary behaviors driven by behavior-specific sensory information, it also repre- Sents behaviors internally in terms of the state of dynamical systems, thus positioning itself somewhere between classical and Behavior-based approaches. This paper demonstrates that the dynamic approach lends itself naturally to implementation on Computationally weak platforms working with very low-level sensory information.