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The Use of Behavior Hierarchies for Controlling a Vision-Based Space Teleoperation Robot

dc.contributor.authorSeeliger, Oliveren_US
dc.description.abstractIn this thesis I describe the use of behavior hierarchies based on ``merging'' two models of multi-layer architecture --- the supervenience model of Spector and the subsumption model of Brooks. The behavior hierarchy approach allows us to use the robustness of reactivity in behavior design. It also encourages the design of modular behaviors that can be reused or more importantly recalibrated in different situations. I argue that behavior hierarchies extend our ability to design and program effective solutions that combine reactive and goal-driven components, but do not require any explicit planning. This work is used for an implemented system in which the underwater robot SCAMP developed at the Space Systems Laboratory at the University of Maryland performs vision-based behaviors to relieve a human operator of certain tasks. (Also cross-referenced as UMIACS-TR-96-3)en_US
dc.format.extent3840 bytes
dc.relation.ispartofseriesUM Computer Science Department; CS-TR-3588en_US
dc.relation.ispartofseriesUMIACS; UMIACS-TR-96-3en_US
dc.titleThe Use of Behavior Hierarchies for Controlling a Vision-Based Space Teleoperation Roboten_US
dc.typeTechnical Reporten_US
dc.relation.isAvailableAtDigital Repository at the University of Marylanden_US
dc.relation.isAvailableAtUniversity of Maryland (College Park, Md.)en_US
dc.relation.isAvailableAtTech Reports in Computer Science and Engineeringen_US
dc.relation.isAvailableAtUMIACS Technical Reportsen_US

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