Page 12 - Introduction to AI Robotics

Contents
7.6 Model-Oriented Architectures 277 xiii
7.6.1 Saphira 278
7.6.2 Task Control Architecture (TCA) 280
7.7 Other Robots in the Hybrid Paradigm 283
7.8 Evaluation of Hybrid Architectures 284
7.9 Interleaving Deliberation and Reactive Control 285
7.10 Summary 288
7.11 Exercises 289
7.12 End Notes 291

8 Multi-agents 293
8.1 Overview 293
8.2 Heterogeneity 296
8.2.1 Homogeneous teams and swarms 296
8.2.2 Heterogeneous teams 297
8.2.3 Social entropy 300
8.3 Control 301
8.4 Cooperation 303
8.5 Goals 304
8.6 Emergent Social Behavior 305
8.6.1 Societal rules 305
8.6.2 Motivation 307
8.7 Summary 309
8.8 Exercises 310
8.9 End Notes 312

II Navigation 315
9 Topological Path Planning 325

9.1 Overview 325
9.2 Landmarks and Gateways 326
9.3 Relational Methods 328
9.3.1 Distinctive places 329
9.3.2 Advantages and disadvantages 331
9.4 Associative Methods 333
9.4.1 Visual homing 334
9.4.2 QualNav 335