Page 157 - Concise Encyclopedia of Robotics

Hybrid Deliberative/Reactive Paradigm
HUMANOID ROBOT
See ANDROID.
HUNTING
Hunting is the result of overcompensation in a servomechanism. It is
especially likely when there is not enough hysteresis, or sluggishness, in
the system response.
Any circuit or device designed to lock onto something,by means of error
correction, is subject to hunting. It takes the form of a back-and-forth
oscillation between two conditions. If severe, it can go on indefinitely. In
less serious cases, the system eventually settles on the correct level or
position (see the illustration).
Error
Right Time

Left

Hunting

Hunting is eliminated by careful design of feedback systems, so there
is just the right amount of hysteresis. See HYSTERESIS LOOP and SERVOMECHANISM.
HYBRID DELIBERATIVE/REACTIVE PARADIGM
The hybrid deliberative/reactive paradigm is an approach to smart-robot
programming that combines the attributes of two simpler schemes,
known as the hierarchical paradigm and the reactive paradigm. The hybrid
paradigm came into favor during the 1990s. It operates according to the
principle plan/sense/act. The actions are based on advance planning and
also on the outputs of sensors from moment to moment.
Before the task in begun, the robot generates a work plan. This is
known as mission planning, and is a form of deliberation. A complex task

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