A methodology for specifying and designing behaviors for mobile robots

In this paper, we propose a methodology for dcsigning behaviors bascd on a real experiment with robots. We give thc control of the robot to a person, who perceives the cnvironmcnt through thc perception of the robot, and acts in the environment by the most primitive actions of the robot. Thc person reports his control proccss during the action, and his report is recorded and analyzcd for finding those behaviors and stalcs hat best rcprcscnt his performance. We have applied this methodology to specify behaviors for a team of soccer playing robots and showed the result.