A Case-Based Approach to Reactive Control of Autonomous Robots

Kenneth Moorman and Ashwin Ram

We propose a cause-based method of selecting behavior sets as an addition to traditional reactive robotic control systems. The new system (ACBARR -- A Case BAsed Reactive Robotic system) provides more flexible performance in novel environments, as well as overcoming a standard "hard" problem for reactive systems, the box canyon. Additionally, ACBARR is designed in a manner which is intended to remain as close to pure reactive control as possible. Higher level reasoning and memory functions are intentionally kept to a minimum. As a result, the new reasoning does not significantly slow the system down from pure reactive speeds.

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