Scribd
Upload
29 views2 pages

Robotics Homework2

The document discusses different paradigms for robot control including the reactive and classical paradigms. It provides details on the representation, engineering principles, ease of programming, and scalability of the reactive paradigm. The best approach for navigation tasks is the classical paradigm. The behavior-based paradigm has benefits like modularity, flexibility, and scalability but drawbacks including a lack of global planning, difficulty coordinating behaviors, and limited understanding of the environment. Specific drawbacks of the subsumption architecture include limited global understanding, difficulty with complex task planning, limited memory and learning, complex emergent behavior, and challenges with scalability, maintenance and extensibility.

Uploaded by

Амаяас Борахла
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
29 views2 pages

Robotics Homework2

The document discusses different paradigms for robot control including the reactive and classical paradigms. It provides details on the representation, engineering principles, ease of programming, and scalability of the reactive paradigm. The best approach for navigation tasks is the classical paradigm. The behavior-based paradigm has benefits like modularity, flexibility, and scalability but drawbacks including a lack of global planning, difficulty coordinating behaviors, and limited understanding of the environment. Specific drawbacks of the subsumption architecture include limited global understanding, difficulty with complex task planning, limited memory and learning, complex emergent behavior, and challenges with scalability, maintenance and extensibility.

Uploaded by

Амаяас Борахла
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 2

I - Reactive Paradigm:

Representation:
Often uses a set of reactive rules or behaviors.

Software Engineering Principles:


May lack a clear modular structure.

Easy to Program:
Relatively easy for simple tasks.

Robustness:
Good for immediate reactions, may lack adaptability.

Scalability:
Can be limited as complexity increases.

II - Discussion
1. The Best Approach for Navigation Tasks:
The best approach for navigation tasks is to use the classical paradigm.

2. Benefits and Drawbacks of Behavior-Based Paradigm:


Benefits:
– Modularity and Flexibility: Behavior-based systems are modular, al-
lowing the addition or modification of individual behaviors without affect-
ing the entire system. This modularity increases flexibility and makes it
easier to adapt the robot to different tasks.
– Scalability: It is relatively easy to scale up the complexity of the robot’s
behavior by adding more individual behaviors. This makes behavior-based
systems suitable for a wide range of tasks, from simple to complex.
– Real-time Responsiveness: Behavior-based systems often exhibit real-
time responsiveness because each behavior operates independently and
reacts to the immediate environment. This can be advantageous in dy-
namic and unpredictable situations.

1
Drawbacks:
– Lack of Global Planning: Behavior-based systems typically lack a cen-
tralized mechanism for global planning. While this makes them respon-
sive, it may limit their ability to perform complex, long-term planning or
optimize paths over extended periods.
– Difficulty in Behavior Coordination: Coordinating behaviors to achieve
a specific goal can be challenging. Without a centralized controller, en-
suring that individual behaviors work together seamlessly requires careful
design and tuning.
– Limited Understanding of the Environment: Since behaviors are
often reactive, the robot may have a limited understanding of the global
environment. This can lead to suboptimal decision-making in certain sit-
uations, especially when a more comprehensive understanding is required.

3. Drawbacks of Subsumption Architecture:


– Limited Global Understanding: Subsumption architecture focuses on
reactive behaviors, lacking a comprehensive global understanding of the
environment.

– Difficulty in Complex Task Planning: Suited for simple tasks, the


architecture struggles with intricate planning and coordination over an
extended period.
– Limited Memory and Learning: Lacks mechanisms for learning and
memory, hindering adaptation based on past experiences.
– Emergent Behavior Complexity: Understanding and predicting emer-
gent behavior become complex as the number of behaviors increases.
– Scalability Challenges: While effective for simple robots, scalability
challenges arise in more complex scenarios.

– Maintenance and Extensibility: Maintaining and extending the ar-


chitecture may become challenging as the system grows in complexity.

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy