The null-space-based behavioral control for soccer-playing mobile robots
Gianluca Antonelli, Filippo Arrichiello, S. Chiaverini · 2006
In this paper a behavior-based approach for the control of soccer-playing mobile robots is presented. The so-called null-space-based (NSB) behavioral control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are composed to yield a complex behavior. The developed approach is demonstrated in an experimental case study with a differential-drive mobile robot kicking a ball in a goal