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Fast, Neat and Under Control: Inverse Steering Behaviors for Physical Autonomous Agents

Heni Ben Amor, Oliver Obst, and Jan Murray. Fast, Neat and Under Control: Inverse Steering Behaviors for Physical Autonomous Agents. Fachberichte Informatik 12--2003, Universität Koblenz-Landau, 2003.

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Abstract

Steering behaviors are a set of motion based reactive procedures used for navigating autonomous agents in their environment. Combinations of steering behaviors can be used to create complex behaviors. One problem inherent to existing approaches to arbitrating between single behaviors is that their combination may lead to suboptimal, undesired, or even catastrophic results in certain situations. In our paper we present a solution to these problems by introducing inverse steering behaviors for controlling physical agents. Inverse steering behaviors change the original concept of steering behaviors and facilitate improved arbitration between different options by using cost based heuristics.
We also show a concrete application of inverse steering behaviors, namely the implementation of a dribbling skill with sophisticated obstacle avoidance for a RoboCup soccer agent.

BiBTeX Entry

@TechReport{	  AOM03,
  address	= {Universit{\"a}t Koblenz-Landau, Institut f{\"u}r
		   Informatik, Rheinau 1, D-56075 Koblenz},
  author	= {Heni {Ben Amor} and Oliver Obst and Jan Murray},
  institution	= {Universit{\"a}t Koblenz-Landau},
  language	= {english},
  number	= {12--2003},
  pdf		=
		   {http://www.uni-koblenz.de/fb4/publikationen/gelbereihe/RR-12-2003.pdf} ,
  title 	= {Fast, Neat and Under Control: Inverse Steering Behaviors
		   for Physical Autonomous Agents},
  type		= {Fachberichte Informatik},
  year		= {2003},
  abstract	= { Steering behaviors are a set of motion based reactive
		   procedures used for navigating autonomous agents in their environment.
		   Combinations of steering behaviors can be used to create complex behaviors.
		   One problem inherent to existing approaches to arbitrating between single
		   behaviors is that their combination may lead to suboptimal, undesired, or
		   even catastrophic results in certain situations. In our paper we present a
		   solution to these problems by introducing inverse steering behaviors for
		   controlling physical agents. Inverse steering behaviors change the original
		   concept of steering behaviors and facilitate improved arbitration between
		   different options by using cost based heuristics. \par We also show a
		   concrete application of inverse steering behaviors, namely the
		   implementation of a dribbling skill with sophisticated obstacle avoidance
		   for a RoboCup soccer agent.}}