Hybrid Deliberative Reactive Paradigm

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Hybrid Deliberative/ Reactive Paradigm
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Introduction

• Reactive
• Cheap low memory processing
• no world model
• Deliberative
• making maps
• selecting behaviours
• monitor performance
• reactive planning

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Hybrid Paradigm

• Deliberation
• reasoning using symbols
• global world model

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Hybrid Sensor Model
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Hybrid Architectures

• Autonomous Robot Architecture (AuRa)
• Sensor Fusion Effects (SFX)
• 3 Tiered (3T)
• Saphira
• Task Control Architecture (TCA)

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Architectural Compoments

• Sequencer
• Resource Manager
• Cartographer
• Mission Planner
• Performance Monitor
• Problem Solving

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Hybrid Styles

• Managerial
• Layed system based on scope of control
• State Hierarchies
• Select reactive and deliberative based in
  internal state
• Model-Oriented
• Uses some kind of (partial) world model

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Autonomous Robot Architecture(AuRA)
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Sensor Fusion Effects (SFX)
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SFX Implementation
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3 Tiered (3T)
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Saphira
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Task Control Architecture (TCA)