Rational Behavior Model: A Tri-Level Multiple Paradigm Architechure for Robot Vehicle Control Software

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Authors
Kwak, S.H.
McGhee, Robert B.
Bihari, T.E.
Subjects
Advisors
Date of Issue
1992-03
Date
1992-03
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Computer control of robot vehicles for operation in unstructured environments typically involves both symbolic reasoning and numerical computation. Based on earlier experiences of the authors and others, this paper proposes a three level architecture for control software for such vehicles. From the top down, the three levels are called the strategic level, the tactical level, and the execution level. This paper argues that a multiple paradigm multi-lingual approach facilitates the realization of such a scheme with logic programming, object-oriented/functional programming. and imperative programming respectively being used in the successive levels. Experiments are reported in which Prolog is used at the strategic level, Lisp or C++ at the tactical level, and Pascal or C at the execution level. Experience with control of a large six-legged walking machine and an autonomous submarine has led the authors to the belief that the proposed software architecture greatly facilitates the development and utilization of such vehicles through the isolation of a concise operational doctrine expressed in Horn clause form at the strategic level of control.
Type
Technical Report
Description
Series/Report No
Department
Computer Science (CS)
Identifiers
NPS Report Number
NPS-CS-92-003
Sponsors
Funder
Format
35 p. : ill. ; 28 cm.
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