Page 274 - Introduction to AI Robotics

The Hybrid Deliberative/Reactive

7 Paradigm

Chapter objectives:

Be able to describe the Hybrid Deliberative/Reactive paradigm in terms
of i) sensing, acting, and planning and ii) sensing organization.
Name and evaluate one representative Hybrid architecture in terms of:
support for modularity, niche targetability, ease of portability to other do-
mains, robustness.

Given a list of responsibilities, be able to say whether it belongs in the
deliberative layer or in the reactive layer.

List the five basic components of a Hybrid architecture: sequencer agent,
resource manager, cartographer, mission planner, performance monitor-
ing and problem solving agent.

Be able to describe the difference between managerial, state hierarchy, and
model-oriented styles of Hybrid architectures.

Be able to describe the use of state to define behaviors and deliberative
responsibilities in state hierarchy styles of Hybrid architectures.

7.1 Overview

By the end of the 1980’s, the trend in artificially intelligent robots was to
design and program using the Reactive Paradigm. The Reactive Paradigm
allowed robots to operate in real-time using inexpensive, commercially avail-
able processors (e.g., HC6811) with no memory. But the cost of reactivity, of
course, was a system that eliminated planning or any functions which in-
volved remembering or reasoning about the global state of the robot relative