Embedding Learning in Behaviour- Based Architectures: A Conceptual Approach.

This paper adresses the identification of the key elements to be present in a generic, behaviour-based architecture for robot control. These elements include the definition of behaviours aiming at rough task execution and the use of learning to improve the performance of the primitive behavior set. Experimental results, with real and simulated systems, to demonstrate cooperative behaviour between a mobile platform and a manipulator are presented.JRC.(ISIS)-Institute For Systems, Informatics And Safet