The Behaviour-Based Control Architecture iB2C for Complex Robotic Systems

This paper presents the behaviour-based control architecture iB2C ( i ntegrated B ehaviour- B ased C ontrol) used for the development of complex robotic systems. The specification of behavioural components is described as well as the integration of behaviour coordination and hierarchical abstraction. It is considered how the design process can be supported by guidelines and by tools for development as well as analysis. Finally some application platforms are presented.