Architecture for vision-based purposive behaviors

In this paper we describe an extended behavior-based architecture capable of executing purposive tasks. The key to this capability is a novel mechanism for sharing data between behaviors. Simple processing elements called markers ground task related data on sensor data flow and communicate it to the behaviors. A control system based on the architecture controls a mobile robot to help other robots in their transfer tasks. In addition to robot movements the control system controls a stereo gaze platform performing real time stereo tracking. In this paper we concentrate on behavior coordination by markers and realistic behavior-based systems. We present experimental results using a real robot