Behavior-Based Robotics

by Ronald C. Arkin

Overview

Foreword by Michael Arbib

This introduction to the principles, design, and practice of intelligent behavior-based autonomous robotic systems is the first true survey of this robotics field. The author presents the tools and techniques central to the development of this class of systems in a clear and thorough manner. Following a discussion of the relevant biological and psychological models of behavior, he covers the use of knowledge and learning in autonomous robots, behavior-based and hybrid robot architectures, modular perception, robot colonies, and future trends in robot intelligence.

The text throughout refers to actual implemented robots and includes many pictures and descriptions of hardware, making it clear that these are not abstract simulations, but real machines capable of perception, cognition, and action.

Product Details

ISBN-13:	9780262529204
Publisher:	MIT Press
Publication date:	05/29/1998
Series:	Intelligent Robotics and Autonomous Agents series
Edition description:	New Edition
Pages:	506
Product dimensions:	7.00(w) x 8.90(h) x 1.10(d)
Age Range:	18 Years

About the Author

Ronald C. Arkin is Professor and Director of the Mobile Robot Laboratory, College of Computing, Georgia Institute of Technology.

Table of Contents

Foreword by Michael Arbib
Preface
Chapter 1
Whence Behavior?
1.1 Toward Intelligent Robots
1.2 Precursors
1.3 The Spectrum of Robot Control
1.4 Related Issues
1.5 What's Ahead
Chapter 2
Animal Behavior
2.1 What Does Animal Behavior Offer Robotics?
2.2 Neuroscientific Basis for Behavior
2.3 Psychological Basis for Behavior
2.4 Ethological Basis for Behavior
2.5 Representative EXamples of BioRobots
2.6 Chapter Summary
Chapter 3
Robot Behavior
3.1 What Are Robotic Behaviors?
3.2 EXpression of Behaviors
3.3 Behavioral Encoding
3.4 Assembling Behaviors
3.5 Chapter Summary
Chapter 4
BehaviorBased Architectures
4.1 What is a Robotic Architecture?
4.2 A Foraging EXample
4.3 Subsumption Architecture
4.4 Motor Schemas
4.5 Other Architectures
4.6 Architectural Design Issues
4.7 Chapter Summary
Chapter 5
Representational Issues for Behavioral Systems
5.1 Representational Knowledge
5.2 Representational Knowledge for BehaviorBased Systems
5.3 Perceptual Representations
5.4 Chapter Summary
Chapter 6
Hybrid Deliberative/Reactive Architectures
6.1 Why Hybridize?
6.2 Biological Evidence in Support of Hybrid Systems
6.3 Traditional Deliberative Planners
6.4 Deliberation: To Plan or Not to Plan?
6.5 Layering
6.6 Representative Hybrid Architectures
6.7 Chapter Summary
Chapter 7
Perceptual Basis for BehaviorBased Control
7.1 A Break from Tradition
7.2 What Does Biology Say?
7.3 A Brief Survey of Robotic Sensors
7.4 Modular Perception
7.5 Action and Perception
7.6 Representative EXamples of BehaviorBased Perception
7.7 Chapter Summary
Chapter8
Adaptive Behavior
8.1 Why Should Robots Learn?
8.2 Opportunities for Learning in BehaviorBased Robotics
8.3 Reinforcement Learning
8.4 Learning in Neural Networks
8.5 Genetic Algorithms
8.6 Fuzzy Behavioral Control
8.7 Other Types of Learning
8.8 Chapter Summary
Chapter 9
Social Behavior
9.1 Are Two (or N) Robots Better Than One?
9.2 Ethological Considerations
9.3 Characterization of Social Behavior
9.4 What Makes a Robotic Team?
9.5 Social Organization and Structure
9.6 Interrobot Communication
9.7 Distributed Perception
9.8 Social Learning
9.9 Case Study: UGV Demo II
9.10 Chapter Summary
Chapter 10
Fringe Robotics: Beyond Behavior
10.1 Issues of the Robot Mind
10.2 Issues of the Robot Body
10.3 On Equivalence (or Better)
10.4 Opportunities
10.5 Chapter Summary
References
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What People are Saying About This

Marco Dorigo

Ronald Arkin's book is an outstanding account of the growing field of behavior-based robotics. Arkin's book is far-reaching, covering subjects ranging from connections between animal and robotic behavior, to hybrid architectures, adaptive behavior, and social behavior. If you want a complete and solid understanding of behavior-based robotics — this is the right book.

Prof Dave Cliff

For amyn years, creating robots with animal-like capacities for survival, adaptation, and interaction has been an aim of artificial intelligence research. Recently, new techniques and cheaper technologies have combined to make this a realistic possibility. Ronald Arkin presents a comprehensive overview of the entire field of behavior-based robotics, covering work from the early 1950's up to state-of-the-art research. This is a wonderful book. It is well-written, richly illustrated, and promises to be of lasting value to students, researchers, and educators.

Dave Cliff

For many years, creating robots with animallike capacities for survival, adaptation, and interaction has been an aim of artificial intelligence research. Recently, new techniques and cheaper technologies have combined to make this a realistic possibility. ronald Arkin presents a comprehensive overview of the entire field of behavior-based robotics, covering work from the early 1950's up to state-of-the-art research. This is a wonderful book. It is well written, richly illustrated, and promises to be of lasting value to students, researchers, and educators.

George A. Bekey

I think this is a wonderful book. Arkin has written the definitive book on the theory and application of robots based on biological and psychological models of behavior. I believe it will be an essential book for serious roboticists and an important reference in the field for many years to come.

Endorsement

Hard to put down and necessary to know—Arkin's book provides acomprehensive intellectual history of robots and a thorough compilation of robotic organizational paradigms from reflexes through social interaction.

—Chris Brown, Professor of Computer Science, University of Rochester

From the Publisher

For many years, creating robots with animallike capacities for survival, adaptation, and interaction has been an aim of artificial intelligence research. Recently, new techniques and cheaper technologies have combined to make this a realistic possibility. ronald Arkin presents a comprehensive overview of the entire field of behavior-based robotics, covering work from the early 1950's up to state-of-the-art research. This is a wonderful book. It is well written, richly illustrated, and promises to be of lasting value to students, researchers, and educators.

—Dave Cliff, Artifical Intelligence Laboratory, MIT

Ronald Arkin's book is an outstanding account of the growing field of behavior-based robotics. Arkin's book is far-reaching, covering subjects ranging from connections between animal and robotic behavior, to hybrid architectures, adaptive behavior, and social behavior. If you want a complete and solid understanding of behavior-based robotics—this is the right book.

—Marco Dorigo, FNRS Senior Scientist, IRDIA, Universite' Libre de Bruxelles

I think this is a wonderful book. Arkin has written the definitive book on the theory and application of robots based on biological and psychological models of behavior. I believe it will be an essential book for serious roboticists and an important reference in the field for many years to come.

—George A. Bekey, University of Southern California

For amyn years, creating robots with animal-like capacities for survival, adaptation, and interaction has been an aim of artificial intelligence research. Recently, new techniques and cheaper technologies have combined to make this a realistic possibility. Ronald Arkin presents a comprehensive overview of the entire field of behavior-based robotics, covering work from the early 1950's up to state-of-the-art research. This is a wonderful book. It is well-written, richly illustrated, and promises to be of lasting value to students, researchers, and educators.

—Prof Dave Cliff, Artificial Intelligence Laboratory, MIT

Hard to put down and necessary to know—Arkin's book provides acomprehensive intellectual history of robots and a thorough compilation of robotic organizational paradigms from reflexes through social interaction.

—Chris Brown, Professor of Computer Science, University of Rochester

Chris Brown

Hard to put down and necessary to know -- Arkin's book provides acomprehensive intellectual history of robots and a thorough compilation of robotic organizational paradigms from reflexes through social interaction.