Shibaura Institute of Technology

Advanced Driver Assistance System Lab

AI chapter7The Hybrid Deliberative/ReactiveParadigm

BQ12038 Naoki Kurosaki

Shibaura Institute of Technology

AI

1.Describing the Deliberative and Reactive of a hybrid paradime.

2. Naming and rating of each hybrid architecture

3. Suggesting if whether a Deliberative or Reactive

4. Describing the 5 components of a hybrid architecture

5. Describing each orientation style

6. Describing the state used to define the Deliberativeresponsibility

Shibaura Institute of Technology

AI

Contents

1. Overview2. Attributes of the Hybrid Paradigm3. Architectural Aspects4. Managerial Architectures5. State-Hierarchy Architectures6. Model-Oriented Architectures7. Other Robots in the Hybrid Paradigm8. Evaluation of Hybrid Architectures9. Interleaving Deliberation and Reactive Control10. Summary

Shibaura Institute of Technology

AI

Overview

By the end of the 1980’s, the trend in artificially intelligent robots was to design and program using the Reactive Paradigm.

The new challenge for AI robotics at the beginning of the 1990’s was how to put the planning, and deliberation, back into robots, but without disrupting the success of the reactive behavioral control.

During the 1990’s, members of the general AI community had become exposed to the principles of reactive robots.

Deliberative + Reactive

Shibaura Institute of Technology

AI

Attributes of the Hybrid Paradigm

The organization of a Hybrid Deliberative/Reactive system can be described as: PLAN, then SENSE-ACT.

The organization of the SENSE,

PLAN, ACT primitives in the

Hybrid Paradigm is conceptually

divided into a reactive (or reactor)

portion and a deliberation

(or deliberator) portion.

Shibaura Institute of Technology

AI

Architectural Aspects

The differences between various Hybrid Deliberative/Reactive architectures fall into three areas

State hierarchy

management

Model-oriented

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AI

Managerial Architectures

Managerial styles of Hybrid

architectures are recognizable

by their decomposition of

responsibilities similar to

business management.

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AI

State-Hierarchy Architectures

State-hierarchy styles of

architectures organize activities

by the scope of time knowledge.

three different layers

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AI

Model-Oriented Architectures

The Saphira architecture

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AI

Model-Oriented Architectures

Task Control Architecture (TCA)

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AI

Other Robots in the Hybrid Paradigm

DARPA UGV

Intelligent vehicle highway systems

Sojourner rover

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AI

Evaluation of Hybrid Architectures

Evaluation of Hybrid Architectures

・Modularity

・target

・portability

・Deliberative

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AI

Interleaving Deliberation and Reactive Control

The primary contribution of a Hybrid architecture is to provide a template for merging deliberation and reaction.

Shibaura Institute of Technology

AI

Summary- The Hybrid Architectural

The Hybrid Deliberative-Reactive Paradigm can be thought of as PLAN, then SENSE-ACT (P,S-A).

State-hierarchies divide deliberation and

reaction by the state, or scope of knowledge,

available to the modules or agents

operating at that layer.