Page 24 - Introduction to AI Robotics
P. 24
Part I
SENSE PLAN ACT 7
a.
PLAN
SENSE ACT
b.
PLAN
ACT SENSE
c.
Figure I.3 Three paradigms: a.) Hierarchical, b.) Reactive, and c.) Hybrid
deliberative/reactive.
turns out to be very hard and brittle due to the frame problem and the need
for a closed world assumption.
Fig. I.4 shows how the Hierarchical Paradigm can be thought of as a tran-
sitive, or Z-like, flow of events through the primitives given in Fig. I.4. Un-
fortunately, the flow of events ignored biological evidence that sensed infor-
mation can be directly coupled to an action, which is why the sensed infor-
mation input is blacked out.
