NDLI: Hierarchy of behaviours Application to the homing problem in indoor environment

Content Provider	IEEE Xplore Digital Library
Author	Mansard, N. Aycard, O. Koike, C.
Copyright Year	2004
Description	Author affiliation: INRIA Rhone-Alpes, GRAVIR Lab., Montbonnot Saint Martin (Mansard, N.; Aycard, O.; Koike, C.)
Abstract	Living beings are often observed switching strategies in response to a changing environment. However, autonomous robotics mostly implements a single behaviour well suited to a particular task such as navigation, localization and so on. Actually, one burning issue of autonomous robotics is to manage a complex task starting from a set of simple behaviours. In other words, the robot has to choose the optimal behaviour given the sensori-motor context in order to build a global and coherent process. This is usually done by a strict specification from the programmer. In this article, we put forward a framework called behaviours hierarchy that handle elementary ability to respond to a given task. We show that this framework leads to the continuous application of an adequate behaviour depending on the environment. Finally, we propose a general method to implement this framework using Bayesian programming
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	895
Ending Page	900
File Size	263868
Page Count	6
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521903
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Indoor environments Navigation Robot sensing systems Bayesian methods Robot programming Europe Programming profession Robotics and automation Fasteners Art
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in