Teleo-Reactive Autonomous Mobile Navigation

Biological creatures apparently execute many tasks in the world by using a combination of routine skills, without doing any extensive reasoning. In recent years researchers have used this as a guide to formulate behav-ioral architectures for robot control. We have adopted the Teleo-Reactive (TR) formalism introduced by Nils Nils-son for our behavioral architecture. The formalism is a programming methodology for situated agents. We have implemented and expanded the TR formalism so that the program interpreter executes the computations in parallel. This is necessary in order for a situated agent to interact with its environment in real-time. Further extensions to the TR formalism include condition and action expressions , the exibility of controlling how and when conditions are evaluated and the ability to control the computation frequency rate of condition processes. Our formalism is called TR+. A TR+ program was used to navigate a robot in our lab in real-time.