A computational structure for enforcing reactive behavior in a mobile robot

Tracy L. Anderson, Max A. Donath

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


An approach is presented which allows for the construction of robot behavior in terms of both spatially and temporally ordered sets of primitive reflexive behaviors. Each primitive reflexive behavior is based upon a stimulus /response model in which the devices which affect behavior are separated from the mechanism for controlling behavior. The approach allows for the explicit representation of complex forms of behavior through the use of abstraction. Behavior is represented in terms of component behaviors and acts to enforce declarative constraints between when a particular component behavior is active and when specific events occur in the environment and /or internal to the robot. In addition, we discuss the need for reactive behavior and illustrate how such behavior can be constructed using the proposed representation.

Original languageEnglish (US)
Pages (from-to)370-382
Number of pages13
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - Mar 10 1989

Bibliographical note

Funding Information:
This work was supported in part by the University of Minnesota Productivity Center, CyberOptics Corp., and the Office of Naval Research under Contract N0004-85-C-0847. In addition, the authors would like to thank Cornelius Neverinceanu and Aris Gogoussis for stimulating thought, Jeff Tonkinson for discussing behaviors, and Reza Vossoughi for his perspective on impedance control systems.


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