Page 193 - Introduction to AI Robotics

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range far 5 Designing a Reactive Implementation
time-remaining
time-elapsed
range far
Start follow- move-
line ahead
range near

see finish see finish
line line
victory-
dance

range near
a.
M: K = ffollow-line, move-aheadg, frange near, range farg, =
s =follow-line, F = ffollow-line,move-aheadg

)
q (q ;
follow-line range near move-ahead
follow-line range far follow-line
move-ahead time remaining move-ahead
move-ahead time elapsed follow-line
b.

Figure 5.9 An alternative FSA representation of the coordination and control of be-
haviors in the UGV competition: a.) a diagram and b.) the table.

all possible inputs. As shown in Fig. 5.8, there are only two releasers for the
UGR example, so the table doesn’t have many rows.
TRANSITION FUNCTION The third part of the FSM is the transition function, called , which specifies
what state the robot is in after it encounters an input stimulus, .The set of
stimulus or affordances that can be recognized by the robot is represented
by (a capital ). These stimuli are represented by arrows. Each arrow rep-
resents the releaser for a behavior. The new behavior triggered by the releaser
depends on the state the robot is in. This is the same as with Innate Releasing
Mechanisms, where the animal literally ignores releasers that aren’t relevant
to its current state.