<title>Real-time reactive model for mobile robot architecture</title>

Abstract

Conventional robot designs have used a functional decomposition of modules to drive the robot architecture. In recent times, an alternative behavioral decomposition has been advocated by Brooks as a basis for mobile robot design. In this model, the set of desired behaviors of the mobile robot dictate the architecture. We have earlier proposed a formal model of mobile robot architecture, which is totally compatible with the new behavior-based approach, and is transformable to a behavior-based design. This paper describes a scheme for the transformation of a robot specification in our approach into an implementable design.