Concept of a Biologically Inspired Robust Behaviour Control System
Tim Köhler, Christian Rauch, Martin Schröer, Elmar Berghöfer, Frank Kirchner
In Proceedings of International Conference on Intelligent Robotics and Applications 2012, (ICIRA-12), 03.10.-05.10.2012, Montreal, Québec, Springer Berlin / Heidelberg, pages 486-495, Oct/2012. ISBN: 978-3-642-33514-3.
In safety-critical and in space applications, high demands are made on the reliability of the involved systems. As autonomy could increase both the effciency and the reliability of such systems, a reliable autonomous system could be beneficial for several robotic scenarios. In this paper, the concept of a biologically inspired, robust behaviour control system is presented. The system includes components for prediction of actions to be executed and the evaluation of the action consequences. In its design process, particularly the occurence of unexpected situations was taken into account. The paper concludes with a presentation of preliminary simulation results and the evaluation setup that will be used in future tests to demonstrate the model properties.