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07 Jun 07
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Think hard, then act
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Don't think, (re)act
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Think and act independently, in parallel
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Think the way you act.
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- Thinking is slow.
- Reaction must be fast.
- Thinking allows looking ahead (planning) to avoid bad actions.
- Thinking too long can be dangerous (e.g., falling off a cliff, being run over).
- To think, the robot needs (a lot of) accurate information.
- The world keeps changing as the robot is thinking, so the slower it thinks, the more inaccurate its solutions.
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Reactive control is a technique for tightly coupling sensory inputs and effector outputs, to allow the robot to respond very quickly to changing and unstructured environments. Think of reactive control as as "stimulus-response".
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In deliberative control, the robot takes all of the available sensory information, and all of the internally stored knowledge it has, and it things ("reasons") about it in order to create a plan of action
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In hybrid control, the goal is to combine the best of both Reactive and Deliberative control. In it, one part of the robot's "brain" plans, while another deals with immediate reaction
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This requires a "third" part of the robot brain, and as a result these systems are often called "three-layer systems."
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Behavior-Based control is based on inspiration from biology, and tries to model how animal brains may deal with hard problems of both thinking and acting. Behavior-based systems, like hybrid systems, also have different "parts" or layers, but unlike hybrid systems, they are not as different from each other. All of them are encoded as behaviors, processes that take inputs and send outputs to each other, quite quickly. So if a robot needs to plan ahead, it does so in a network of behaviors which talk to each other and send information around, rather than a single planner, as with hybrid systems.
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