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Hybrid robot control architectures separate plans, coordination,
and actions into separate processing layers to provide deliberative
and reactive functionality.This approach promotes more complex
systems that perform well in goal-oriented and dynamic
environments. In various architectures, the connections andcontents
of the functional layers are tightly coupled so system updates and
changes require major changes throughout the system. This work
proposes anabstract behavior representation, a dynamic behavior
hierarchy generation algorithm, and an architecture design to
reduce this major change incorporationprocess. The behavior
representation provides an abstract interface for loose coupling of
behavior planning and execution components. The hierarchygeneration
algorithm utilizes the interface allowing dynamic sequencing of
behaviors based on behavior descriptions and system objectives
without knowledge ofthe low-level implementation or the high-level
goals the behaviors achieve. This is accomplished within the
proposed architecture design, which is based on theThree Layer
Architecture (TLA) paradigm.
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