Abstract
In the robotics field, behavior-based architectures are software systems that define how complex robot behaviors are decomposed into single units, how they access sensors and motors, and the mechanisms for communication, monitoring, and setup. This paper describes the main ideas of a simple, efficient, and scalable software architecture for robotic applications. Using a convenient design of the basic building blocks and their interaction, developers can face complex applications without any limitations. This architecture has proven to be convenient for different applications like robot soccer and therapy for Alzheimer patients.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Brooks, R.A.: Intelligence Without Representation. Artificial Intelligence 47, 139–159 (1991)
Martín, F., Aguero, C., Cañas, J.M., Perdices, E.: Humanoid soccer player design. In: Papic, V. (ed.) Robot Soccer, pp. 67–100. IN-TECH (2010)
Martín, F., Aguero, C., Cañas, J.M.: Localization of legged robots combining a fuzzy-Markov method and a population of extended Kalman filters. Robotics and Autonomous Systems 55, 870–880 (2007)
Martín, F., Aguero, C., Rubio, L., Cañas, J.M.: Comparison of Smart Visual Attention Mechanisms for Humanoid Robots. International Journal of Advanced Robotic Systems: Smart Sensors for Smart Robots 9, 1–10 (2012)
Martín, F., Aguero, C., Cañas, J.M., Martínez, P., Valenti, M.: RoboTherapy with Alzheimer Patients. International Journal of Advanced Robotic Systems: Humanoid 9, 1–7 (2012)
Konolige, K., Myers, K., Ruspini, E., Saffiotti, A.: The Saphira architecture: A design for autonomy. Journal of Experimental & Theoretical Artificial Intelligence 9(2–3), 215–235 (1998)
Konolige, K.: Saphira robot control architecture, Technical Report, SRI International, Menlo Park, Calif, USA (2002)
Gerkey, B., Vaughan, R.T., Howard, A.: The player/stage project: tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th International Conference on Advanced Robotics (ICAR 2003), Coimbra, Portugal, pp. 317–323, June 2003
Collett, H.J., MacDonald, B.A., Gerkey, B.: Player 2.0: toward a practical robot programming framework. In: Proceedings of the Australasian Conference on Robotics and Automation (ACRA 2005), Sydney, Australia, December 2005
Vaughan, R.T.: Massively multi-robot simulations in Stage. Swarm Intelligence 2(2–4), 189–208 (2008)
Quigley, M., Ken, C., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Andrew, Y.: ROS: an open-source robot operating system. In: Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA). Workshop on Open Source Robotics (2009)
Brooks, A., Kaupp, T., Makarenko, A., Orebck, A., Williams, S.: Towards component-based robotics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp. 163–168 (2005)
Makarenko, A., Brooks, A., Kaupp, T.: On the benefits of making robotic software frameworks thin. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007). Workshop on Evaluation of Middleware and Architectures (2007)
Cintas, R., Manso, L.J., Pinero, L., Bachiller, P., Bustos, P.: Robust Behavior and Perception using Hierarchical State Machines: A Pallet Manipulation Experiment. Proceedings, Journal of Physical Agents 5(1), 35–44 (2011). ISSN 1888–0258
Montemerlo, M., Roy, N., Thrun, S.: Perspectives on standardization in mobile robot programming: the carnegie mellon navigation (CARMEN) toolkit. In: IROS 2003, pp. 2436–2441 (2003)
Kraetzschmar, G.K., Utz, H., Sablatnög, S., Enderle, S., Palm, G.: Miro - middleware for cooperative robotics. In: Proceedings of RoboCup-2001 Symposium. LNAI, vol. 2377, pp. 411–416. Springer-Verlag, Heidelberg (2002)
Henning, M.: The Rise and Fall of CORBA. ACM Queue Magazine 4(5), June 2006
Canas, J.M., Matellán, V.: From bioinspired vs psychoinspired to ethoinspired robots. Robotics and Autonomous Systems 55, 841–850 (2007)
Simmons, R., Goodwin, R., Haigh, K., Koenig, S., O’Sullivan, J., Veloso, M.: Xavier: Experience with a Layered Robot Architecture. SIGART Bull. 8(1–4), 22–33 (1997)
Stoytchev, A., Arkin, R.C.: Combining deliberation, reactivity, and motivation in the context of a behavior-based robot architecture. In: Proceedings of the 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 290–295 (2001)
Cazorla, M., García-Rodríguez, J., Cañas Plaza, J.M., García Varea, I., Matellán, V., Martín Rico, F., Martínez-Gómez, J., Rodríguez Lera, F.J., Suarez Mejias, C., Martínez Sahuquillo, M.E.: SIRVAMED: development of a comprehensive robotic system for monitoring and interaction for people with acquired brain damage and dependent people. In: XVI Conferencia de la Asociacin Española para la Inteligencia Artificial (CAEPIA) (2015)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Martín, F., Aguero, C.E., Cañas, J.M. (2016). A Simple, Efficient, and Scalable Behavior-Based Architecture for Robotic Applications. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_47
Download citation
DOI: https://doi.org/10.1007/978-3-319-27149-1_47
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-27148-4
Online ISBN: 978-3-319-27149-1
eBook Packages: Computer ScienceComputer Science (R0)