A hierarchical hybrid architecture for mission-oriented robot control

Abstract

In this work is presented a general architecture for a multi physical agent network system based on the coordination and the behavior management. The system is organised in a hierarchical structure where are distinguished the individual agent actions and the collective ones linked to the whole agent network. Individual actions are also organised in a hybrid layered system that take advantages from reactive and deliberative control. Sensing system is involved as well in the behaviour architecture improving the information acquisition performance.