Behavior generation in intelligent systems
Abstract
This book is about architectures for behavior generation.One should distinguish the concept of "architecture" from the concept of "algorithm".The same architecture can employ different algorithms while the same algorithm can be applied in many architectures.Architecture studies how various functional components should be put together to provide for the desirable functioning of a system.Architecture contemplates the need in partucular components and their interrelatedness if a concrete functioning is required.In other words, architecture can be considered a "metalogic" of the system, or its "meta-algorithm".This book was stimulated by the problem of developing Intelligent Systems in the variety of application domains such as robotics, integrated manufacturing, large complex systems in costruction.The techniques we describe are to be applied for design and control of all complex integrated technologies where NIST-RCS Architecture is appropriate.It should be considered further development of the general NIST-RCS concept.The thrust of this book is the concept of a recursive BG-module and the concept of multiresolutional, nested Loops of Functioning.The material contains main statements and positions of the 1992-1994 discussions between J. Albus and A. Meystel.The materials of these discussions have been developed and revised during the period from November 1994 through December 1995.NIST-RCS** has several versions created resulting from gradual evolution of the initial RCS…
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