Page 204 - Introduction to AI Robotics

5.6 Summary
\\index into the correct step in the causal chain 187
if (EMPTY){
if (SEE_RED){
move_to_goal(red);
else
wander();
} else{
grab_trash();
if (NO_BLUE)
wander();
else if (AT_BLUE)
drop_trash();
else if (SEE_BLUE)
move_to_goal(blue);
}

5.6 Summary

As defined in Ch. 4, a reactive implementation consists of one or more be-
haviors, and a mechanism for combining the output of concurrent behaviors.
While an architectural style (subsumption, potential fields) may specify the
structure of the implementation, the designer must invest significant effort
into developing individual behaviors and into assembling them into a se-
quence or an abstract behavior.
Schema theory is highly compatible with Object Oriented Programming. A
behavior is derived from the schema class; it is a schema that uses at least one
perceptual and motor schema. If a behavior is composed of multiple schema,
it must have a coordinated control program to coordinate them. Finite State
Automata offer a formal representation of the coordination logic needed to
control a sequence of behaviors. Scripts are an equivalent mechanism with a
more natural story-like flow of control.
The steps in designing robot intelligence under the Reactive Paradigm are:

1. Describe the task,
2. Describe the robot,

3. Describe the environment,
4. Describe how the robot should act in response to its environment,