An autonomic behavior-based software architecture for mobile manipulator

Integrating autonomic computing concept into the behavior-based architecture enhances the abilities of mobile robots to operate in dynamically changing environment. The constraint-based behavior fusion mechanism provides a proper fusion solution for different behaviors and a unified entry point for autonomic computing components (ACC). This design philosophy distributes the responsibilities of task execution to several elementary behavioral units and the inner self maintaining mechanisms to corresponding self-X ACCs. A task execution of a door-opening example shows the implementation of this method.