Page 288 - Introduction to AI Robotics

7.4 Managerial Architectures

a. b. c. 271

d. e.

Figure 7.5 A robot using SFX to figure out that something is wrong with the camera.
It cannot identify the problem, so it attempts to correct the problem by shaking.

Shirt covering the lens, as shown in Fig. 7.5.
The lower deliberative layer also contains a Cartographer agent and per-
formance monitoring agents. The Cartographer is responsible for map mak-
ing and path planning, while the performance agents attempt to observe the
progress of the robot toward its goals and notice when the robot is unsuc-
cessful, using work by Hughes. 71 An example is when a robot gets stuck in
the mud on a dirt road. The follow-road behavior is executing correctly; it is
seeing the road and giving actuator commands correctly. The shaft encoders
show that the wheels are turning. So some other process with more self-
awareness than a reactive behavior is needed to notice that the robot isn’t
moving. In this case, if the robot is moving, the vision should change over
time, not remain the same.