Hierarchical and State-based Architectures for Robot Behavior Planning and Control

Abstract—In this paper, two behavior control architectures for autonomous agents in the form of cross-platform C++ frameworks are presented, the State Controller Library and the Behavior Control Framework. While the former is state-based and gener-alizes the notion of states and finite state machines to allow for multi-action planning, the latter is behavior-based and exploits a hierarchical structure and the concept of inhibitions to allow for dynamic transitioning. The two frameworks have completely in-dependent implementations, but can be used effectively in tandem to solve behavior control problems on all levels of granularity. Both frameworks have been used to control the NimbRo-OP, a humanoid soccer robot developed by team NimbRo of the University of Bonn. I