Automatic Design of Robot Behaviors through Constraint Network Acquisition

Control architectures, such as the LAAS architecture, CLARATY and HARPIC, have been developped to provide autonomy to robots. To achieve a robot´s task, these control architectures plan sequences of sensorimotor behaviors. Currently carried out by roboticians, the design of sensorimotor behaviors is a truly complex task that can require many hours of hard work and intensive computations. In this paper, we propose a Constraint Programming-based framework to interact with roboticians during the sensorimotor behaviors design. A constraint network acquisition platform and a CSP-Based planner are used to automatically design sensorimotor behaviors. Moreover, our architecture exploits the propagation properties of the acquired CSPs to supervise the execution of a given sensorimotor behavior. Some experimental results are presented to validate our approach.