An implementation of an extension of the behaviour synthesis architecture

Several architectures have been applied to advanced robotic systems improving their autonomy in unstructured and dynamic environments. Some of them following the traditional hierarchical model and others a more recent behavioural or reactive approach. Among them, it is possible to find common features, that can be synthetized in a generalised model. Following this idea, the aim in this work is to test and confirm previous simulating results obtained from the comparison between the original behaviour synthesis architecture and an extension of it, that uses generalised principles