Robotic paradigm
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robotics Robotics is an interdisciplinary branch of computer science and engineering. Robotics involves design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrat ...
, 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 Robotics is an interdisciplinary branch of computer science and engineering. Robotics involves design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrat ...
: 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.


Hierarchical/deliberative paradigm

* The 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.


The reactive paradigm

* 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.


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.


See also

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Behavior-based robotics Behavior-based robotics (BBR) or behavioral robotics is an approach in robotics that focuses on robots that are able to exhibit complex-appearing behaviors despite little internal variable state to model its immediate environment, mostly gradually ...
*
Hierarchical control system A hierarchical control system (HCS) is a form of control system in which a set of devices and governing software is arranged in a hierarchical tree. When the links in the tree are implemented by a computer network, then that hierarchical control sy ...
*
Subsumption architecture Subsumption architecture is a reactive robotic architecture heavily associated with behavior-based robotics which was very popular in the 1980s and 90s. The term was introduced by Rodney Brooks and colleagues in 1986.Brooks, R. A., "A Robust Progr ...


References

* Asada, H. & Slotine, J.-J. E. (1986). Robot Analysis and Control. Wiley. . * Arkin, Ronald C. (1998). Behavior-Based Robotics. MIT Press. . {{Robotics