Fast, Neat and Under Control: Inverse Steering Behaviors for Physical Autonomous Agents
Heni Ben Amor, Oliver Obst, Jan Murray · 2007
Abstract. Steering behaviors are a set of motion based reactive procedures used for navigating autonomous agents in their environment. Combinations of steer-ing behaviors can be used to create complex behaviors. One problem inherent to existing approaches to arbitrating between single behaviors is that their combi-nation may lead to suboptimal, undesired, or even catastrophic results in certain situations. In our paper we present a solution to these problems by introducing inverse steering behaviors for controlling physical agents. Inverse steering be-haviors change the original concept of steering behaviors and facilitate improved arbitration between different options by using cost based heuristics. We also show a concrete application of inverse steering behaviors, namely the implementation of a dribbling skill with sophisticated obstacle avoidance for a RoboCup soccer agent. 1