Page 75 - Introduction to AI Robotics
P. 75
58
SENSE PLAN ACT 2 The Hierarchical Paradigm
Sample Activities
Mission Planner
Navigator
Pilot
SENSE MODEL ACT
a.
SENSE PLAN
Value
Judgment
changes
and simulated task
events plans goals
Sensory World Behavior
Perception Modeling Generation
perception, plans,
focus of state of
attention Knowledge actions
Database ACT
observed commanded
input actions
b.
Figure 2.7 Layout of RCS: a.) hierarchical layering of sense-model-act, and b.) func-
tional decomposition.
