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The International Journal of Robotics Research
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Scaling the Dynamic Approach to Path Planning and Control: Competition among Behavioral Constraints

Edward W. Large

GRASP Laboratory, University of Pennsylvania, 3401 Walnut Street, Suite 301C, Philadelphia, Pennsylvania 19104, USA

Henrik I. Christensen

Centre for Autonomous Systems, Kungliga Tekniska Hoegskolan, NADA/CVAP, S-100 44 Stockholm, Sweden

Ruzena Bajcsy

GRASP Laboratory, University of Pennsylvania, 3401 Walnut Street, Suite 301C, Philadelphia, Pennsylvania 19104, USA

The dynamic-systems approach to robotpathplanningdefinesa dynamics ofrbotbehavior in which task constraints contribute independently to a nonlinear vector field that governs robot actions. We address problems that arise in scaling this approach to handle complex behavioral requirements. We propose a dynamics that operates in the space of task constraints, determining the relative contribution of each constraint to the behavioral dynamics. Competition among task constraints is able to deal with problems that arise when combining constraint contributions, making it possible to specify tasks that are mome complex than simple navigation. To demonstrate the utility of this approach, we design a system of two agents to perform a cooperative navigation task We show how competition among constraints enables agents to make decisions regarding which behavior to execute in a given situation, resulting in the execution of sequences of behaviors that satisfy task requirements. We discuss the scalability of the competitive-dynamics approach to the design of more complex autonomous systems.

The International Journal of Robotics Research, Vol. 18, No. 1, 37-58 (1999)
DOI: 10.1177/027836499901800103
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E. Bicho, P. Mallet, and G. Schoner
Target Representation on an Autonomous Vehicle with Low-Level Sensors
The International Journal of Robotics Research, May 1, 2000; 19(5): 424 - 447.
[Abstract] [PDF]