This article describes only one highly specialized aspect of its associated subject. Please help improve this article by adding more general information. The talk page may contain suggestions.(February 2013)
In robotics, a robotic paradigm is a mental model of how a robot operates. A robotic paradigm can be described by the relationship between the three basic elements of robotics: Sensing, Planning, and Acting. It can also be described by how sensory data is processed and distributed through the system, and where decisions are made.
The robot has multiple instances of Sense-Act couplings.
These couplings are concurrent processes, called behaviours, which take the local sensing data and compute the best action to take independently of what the other processes are doing.
The robot will do a combination of behaviours.
Reactive Paradigm schema
Hybrid deliberate/reactive paradigm
The robot first plans (deliberates) how to best decompose a task into subtasks (also called “mission planning”) and then what are the suitable behaviours to accomplish each subtask.
Then the behaviours starts executing as per the Reactive Paradigm.
Sensing organization is also a mixture of Hierarchical and Reactive styles; sensor data gets routed to each behaviour that needs that sensor, but is also available to the planner for construction of a task-oriented global world model.
Asada, H. & Slotine, J.-J. E. (1986). Robot Analysis and Control. Wiley. ISBN0-471-83029-1.
Arkin, Ronald C. (1998). Behavior-Based Robotics. MIT Press. ISBN0-262-01165-4.
January 29, 2023
robotic, paradigm, this, article, multiple, issues, please, help, improve, discuss, these, issues, talk, page, learn, when, remove, these, template, messages, this, article, provides, insufficient, context, those, unfamiliar, with, subject, please, help, impro. This article has multiple issues Please help improve it or discuss these issues on the talk page Learn how and when to remove these template messages This article provides insufficient context for those unfamiliar with the subject Please help improve the article by providing more context for the reader February 2013 Learn how and when to remove this template message This article describes only one highly specialized aspect of its associated subject Please help improve this article by adding more general information The talk page may contain suggestions February 2013 Learn how and when to remove this template message In robotics a robotic paradigm is a mental model of how a robot operates A robotic paradigm can be described by the relationship between the three basic elements of robotics Sensing Planning and Acting It can also be described by how sensory data is processed and distributed through the system and where decisions are made Contents 1 Hierarchical deliberative paradigm 2 The reactive paradigm 3 Hybrid deliberate reactive paradigm 4 See also 5 ReferencesHierarchical deliberative paradigm EditThe robot operates in a top down fashion heavy on planning The robot senses the world plans the next action acts at each step the robot explicitly plans the next move All the sensing data tends to be gathered into one global world model Hierarchical Paradigm schemaThe reactive paradigm EditMain article Reactive planning Sense act type of organization The robot has multiple instances of Sense Act couplings These couplings are concurrent processes called behaviours which take the local sensing data and compute the best action to take independently of what the other processes are doing The robot will do a combination of behaviours Reactive Paradigm schemaHybrid deliberate reactive paradigm EditThe robot first plans deliberates how to best decompose a task into subtasks also called mission planning and then what are the suitable behaviours to accomplish each subtask Then the behaviours starts executing as per the Reactive Paradigm Sensing organization is also a mixture of Hierarchical and Reactive styles sensor data gets routed to each behaviour that needs that sensor but is also available to the planner for construction of a task oriented global world model Hybrid Deliberate Reactive Paradigm schemaSee also EditBehavior based robotics Hierarchical control system Subsumption architectureReferences EditAsada H amp Slotine J J E 1986 Robot Analysis and Control Wiley ISBN 0 471 83029 1 Arkin Ronald C 1998 Behavior Based Robotics MIT Press ISBN 0 262 01165 4 Retrieved from https en wikipedia org w index php title Robotic paradigm amp oldid 1064647816, wikipedia, wiki, book, books, library,
