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In this paper, the problem of employing behaviour-based approaches to realise complex, deliberative functionalities on high navigation layers is addressed. Behaviour-based architectures typically target at the lower, more reactive aspects of robot navigation. Hence, it is usually not possible to profit from the advantages of behaviours at higher layers. The authors believe that this limitation is not necessary and suggest the use of behaviour activity sequences as a solution. As central element for the realisation of these sequences, a special generic coordination behaviour is introduced in this paper. It is explained how behaviour activity sequences can be used to generate robot motions as well as to recognise certain situations which a robot may encounter. As examples, the behaviour-based generation of turning manoeuvres and the recognition of dead ends with behaviour activity sequences are shown. The developed concepts demonstrate how to benefit from the typical properties of behaviour-based approaches without limiting the developer to mainly reactive systems.

USING BEHAVIOUR ACTIVITY SEQUENCES FOR MOTION GENERATION AND SITUATION RECOGNITION