Distributed perception for reactive navigation

Abstract

We have proposed a novel approach to perception of environment regularities which can be used by reactive navigation systems for mobile robots. The approach is inspired by existing eco-systems and the way how people and animals use them to recognise long term life conditions. The system provides the distributed model of the world which is build up in behavioural manner. We hope that the presented approach enables a more global composition and coordination of behaviours and at the same time it preserves the grace of reactive systems.