Behaviour Generation Module

1. Behaviour GenerationModule Presented By: Rajesh Kumar Pandey IIS2012006 Saikot Majumdar IIS2012011 Prabhat Soni IIS2012013

2. Contents • What is Behaviour Generation? • Why is BG required? • How it is being used in RCS Model? • BG Functions • Architecture • Summary

3. What is Behaviour Generation? Behavior Generation : • receives a goal • retrieves relevant knowledge from the world model • creates assignments for the lower level of resolution in the form of strings of tasks

4. What is Behaviour Generation? • “Behavior is the result of executing a series of tasks”. Hence BG can be defined as: • Planning and execution of actions designed to achieve behavior goals.

5. Why is BG required? It fulfills the following requirements • Process of planning to solve problems of the real world. • Formulation of algorithms of problem solving. • Execution of actions(virtual actuator) according the planning algorithms developed. • It is also useful for the capability or feasibility assessment of any task to be done.

6. How it is being usedin RCS Model? • RCS 3 was incorporated in DARPA underwater vehicle (1988) & NASA Tele robot control system (1989). • Task decomposition modules are decomposed into job assigner, planner and executor modules. • RCS4 was under development around 2002. • Behavior generation represents autonomy and replaces TD. • Provides sophisticated real-time perceptual capabilities.

7. Op e r a t o r I / F Basic building block of RCS 3 Globa l Memo r y Sensory data (i) Command (i) response update SP(i) WM(i) TD(i) Query prediction Sensory data (i-1) Command (i-1) SP – sensory perception TD Task decomposition

8. Op e r a t o r I / F Basic building block of RCS 4 Gl oba l Memo r y Command (i) VJ(i) Perceived situation Planning results Sensory data (i) Plan evaluation Situation evaluation update response SP(i) WM(i) BG(i) prediction Query Sensory data (i-1) Command (i-1) TD replaced by BG (behavior generator)

9. BG Functions Two types of activities : • Planner: • operate on the future • responsible for providing a plan. • Executor: • operate in the present • responsible for monitoring the current (t=0) state of the world • executing the plan • Each executor performs a READ-COMPUTE-WRITE operation once each control cycle .

10. BG Functions • Build Algorithms • Planner • Executor • Capability Assessment • Sequencer • Breaking down the problem

11. Representation of output at different levels 2nd level Low resolution loop 1st level VJ VJ Virtual Actuator SP SP WM WM BG BG High resolution loop S1 W1 A1 Virtual World Virtual sensor System Controlled by 2nd level

12. Planners consists of two components: 1. Job Assignment Sublevel : • responsible for task decomposition. • partitions the input task command into N distinct jobs by N physically distinct subsystems. 2. Scheduler Sub module: • responsible for decomposing the job assigned to its subsystem into a temporal sequence of planned subtasks. Executor Sub level : • Responsible for successfully executing the plan. • Clocked performance. • Checks completion.

13. Overall organization of Behavior Generation

14. Summary