Reactive task execution by combining action maps

In this paper we describe a behavior-based control architecture capable of reactive task execution; that is, it reasons out actions based on task constraints and reacts quickly to unexpected events in the environment. Reactive task execution requires versatile behavior coordination methods. We suggest that the required behavior coordination can be achieved by combining action maps. The main advantages of this method are that it enables executing several tasks in parallel and facilitates considering environment dynamics. These properties make this behavior coordination method suitable for reactive task execution