Konferensartikel

Behavior engineering with ``dual dynamics models and design tools

Ansgar Bredenfeld
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Thomas Christaller
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Wolf Göhring
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Horst Günther
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Herbert Jæger
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Hans-Ulrich Kobialka
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Paul-Gerhard Plöger
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Peter Schöll
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Andrea Siegberg
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Arend Streit
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Christian Verbeek
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

Jörg Wilberg
GMD-AiS.BE, Schloss Birlinghoven, St. Augustin, Germany

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Ingår i: RobocCup-99 Team Descriptions. Small and Middle Leagues

Linköping Electronic Conference Proceedings 3:22, s. 134-145

Linköping Electronic Articles in Computer and Information Science 6:22, s. 134-145

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Publicerad: 1999-12-05

ISBN:

ISSN: 1650-3686 (tryckt), 1650-3740 (online)

Abstract

Dual Dynamics (DD) is a mathematical model of a behavior control system for mobile autonomous robots. Behaviors are specified through differential equations; forming a global dynamical system made of behavior subsystems which interact in a number of ways. DD models can be directly compiled into executable code. The article (i) explains the model; (ii) sketches the Dual Dynamics Designer (DDD) environment that we use for the design; simulation; implementation and documentation; and (iii) illustrates our approach with the example of kicking a moving ball into a goal.

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