Rational behavior model
Subtitle: a tri-level multiple paradigm architecture for robot vehicle control software
By: S.H. Kwak, R.B. McGhee, and T.E. Bihari
Contributors: McGhee, Robert B.; Bihari, T. E.; Naval Postgraduate School (U.S.). Dept. of Computer Science
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1992
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 29
Subjects: COMPUTER ARCHITECTURE; AUTONOMOUS NAVIGATION; ROBOTS; COMPUTER PROGRAMS
Other titles: NPS-CS-92-003.
Description: Computer control of robot vehicles of operation in unstructured environment typically      involves both symbolic reasoning and numerical computation. Based on earlier      experiences of the authors and others, this paper proposes a three level architecture for      control software for such vehicles. From the top down, the three levels are called the      strategic level, the tactical level, and the execution level. This paper argues that a multiple      paradigm multi-lingual approach facilitates the realization of such a scheme with logic      programming, object-oriented/functional programming, and imperative programming      respectively being used in the successive levels. Experiments are reported in which Prolog      is used at the strategic level, Lisp or C++ at the tactical level, and Pascal or C at the      execution level. Experience with control of a large six legged walking machine and an      autonomous submarine has led the authors to the belief that the proposed software      architecture greatly facilitates the development and utilization of such vehicles through the      isolation of a concise operational doctrine expressed horn clause form at the strategic level      of control. ROBOT VEHICLE, CONTROL, SOFTWARE ARCHITECTURE,      CONTROL SOFTWARE, ASV, AUV.
Notes: Title from cover.

"NPS-CS-92-003."

"March 1992."

AD A250 370.

Includes bibliographical references (p. 26-29).

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