Robust intelligent control through the use of a behaviour based control paradigm

Proposes a behaviour based strategy as a new approach to the problem of robust intelligent control in robotics. The classical paradigm is outlined and contrasted with a description of the new behaviour based paradigm. Finally an example system constructed at Edinburgh is described which uses hybrid control for assembly. It consists of a classical planner for high level planning connected to a series of reactive, behaviour based agents which control the robot movements. This control system has been demonstrated to be remarkably robust in performance