Showing papers by "Paul A. Viola published in 1990"

Cooperative control of a semi-autonomous mobile robot

Abstract: Multiagent control systems for robots are considered. A robot is described that is based on treating the existing behavioral agents as simply an enhanced effector command language and designing a higher-level control structure that switches them on and off. It is shown how supervisory control can be added to such a reactive multiagent system. >

Network Based Autonomous Robot Motor Control: from Hormones to Learning

Abstract: Network models have started to be used to control physical robots. A major problem is how to control the selection of grossly different high level behaviors and how to express that selection down at the motor level. In this paper we show how to extend the subsumption architecture [Brooks 86] inspired by a model of behavior selection of [Maes 89], and incorporating a model of hormonal control [Kravitz 88]. In robotic terms a hormonal control system enables global control of a distributed system with only a very low bandwidth global communication system. This has important implications concerning the ability to fabricate intelligent silicon controllers for tiny microfabricated micro robots [Flynn, Brooks and Tavrow 89].