Supervenient Hierarchies of Behaviors: Lessons learned from a Vacuuming Robot *

Abstract

In this paper, the authors describe the use of behavior hierarchies based on "merging" two models of multi-layer architecture: the supervenience model and the subsumption model. The behavior hierarchy approach allows them to use the robustness of reactivity in behavior design. It also encourages the design of modular behaviors that can be reused or, more importantly, recalibrated in different situations. They argue that behavior hierarchies extend researchers' ability to design and program effective solutions that do not require any explicit planning. They also describe ongoing work in using this model for integrating planning and reacting. This work is being used in support of an implemented system in which an autonomous mobile robot performs a vacuuming task.