The Distributed architecture for mobile navigation (DAMN) is a mobile robot architecture developed by Julio K. Rosenblatt at

Carnegie Mellon University Carnegie Mellon University (CMU) is a private research university in Pittsburgh, Pennsylvania. One of its predecessors was established in 1900 by Andrew Carnegie as the Carnegie Technical Schools; it became the Carnegie Institute of Technology ...

. DAMN consists of a collection of independently operating behaviors such as "go-to-goal" and "avoid obstacle", and an arbiter. The arbiter generates a set of feasible action possibilities for the robot over a short time horizon, and the behaviours vote on (i.e. express utility for) these candidate actions. Votes may be weighted by a mode manager. The Pareto optimal action is then sent to the vehicle controller. One method of obtaining votes is for behaviours to asynchronously update a utility map over the configuration space of the robot. The arbiter then overlays paths resulting from action candidates onto the map, and samples utilities along the paths. This approach is known as ''utility fusion''. In DAMN, the

decision-making In psychology, decision-making (also spelled decision making and decisionmaking) is regarded as the Cognition, cognitive process resulting in the selection of a belief or a course of action among several possible alternative options. It could be ...

process is distributed and asynchronous, without the need for an hierarchical structure.

References

Robot architectures {{robot-stub

See also

References