Paper:
Language: English:

Incorporating Motivation in a Hybrid Robot Architecture

Alexander Stoytchev, and Ronald C. Arkin

Mobile Robot Laboratory, College of Computing, Georgia Institute of Technology, Atlanta, Georgia 30332-0280, U.S.A.

Received: June 27, 2003

Accepted: March 20, 2004

Keywords: behavior-based robotics, hybrid robot architectures, motor schemas, motivational variables

Journal ref: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.8, No.3 pp. 269-274, 2004

Abstract

This paper describes a hybrid mobile robot architecture that addresses three main challenges for robots living in human-inhabited environments: how to operate in dynamic and unpredictable environment, how to deal with high-level human commands, and how to engage human users. The architecture combines three components: deliberative planning, reactive control, and motivational drives. It has been proven useful for controlling mobile robots in man-made environments. Results are reported for a fax delivery mission in a normal office environment.

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