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BEHAVIOR GENERATION. PRESENTED BY:- SWATI GUPTA(IIS2012005) JYOTI JAISWAL(IIS2012014) . INTRODUCTION. Behavior generation is the process of planning and execution of actions designed to achieve behavior goals.

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Behavior generation

BEHAVIOR GENERATION

PRESENTED BY:-

SWATI GUPTA(IIS2012005)

JYOTI JAISWAL(IIS2012014)


Introduction
INTRODUCTION

  • Behavior generation is the process of planning and execution of actions designed to achieve behavior goals.

  • A behavioral goals is a desired result an action is designed to achieve or to maintain.

  • At each adjacent lower level of the hierarchy considers the task to be its goal.


  • Behavior generation selects plans by using a priori task knowledge and value judgment functions.

  • The Behavior generation module of intelligent system receives a goal , retrieves relevant knowledge in the world model , and creates assignment for the lower level, generating the control commands for actuators (virtual actuators of the lower level).




Task decomposition
Task decomposition knowledge and

High level task

Virtual sensor

Goal task

VJ

Virtual actuator

SP

WM

BG


Task decomposition1
Task decomposition knowledge and

  • Input to high level task is the goal to be achieved.

  • Output from high level that is the task decomposition of the goal serves as goal for lower level.

  • The actual realization of the goal is done through actuators.



Behavior generation1
Behavior Generation knowledge and

  • Behavior results from a behavior generating system elements that selects goals and plans and executes tasks.

  • Tasks are recursively decomposed into subtasks which are sequence to achieve goals.

  • Goals are selected by looping interaction among behavior generation, world modeling and value judgment elements.



Important terms related to bg
Important terms related to BG evaluates those results .

  • Task: it is a component of the work to be done.

  • Goal: A goal is event that successfully terminates a task.

  • Action: It is an effort generated by an actuator producing changes in the world.

  • Task command: Instruction to perform a named task.

  • Task frame: Data structure specifying the task knowledge.


Important terms related to bg1
Important terms related to BG evaluates those results .

  • Task knowledge: All knowledge required to accomplish the task.

  • Plan: A set of subtask and sub goals to accomplish a task.

  • Job: Description of an activity required to perform the task.

  • Schedule: It is a timing specification for a plan and can be represented as time labeled or event labeled , sequence of activities or events.


Planning module
Planning module evaluates those results .

  • Three basic operations:-

  • Spatial planning include job assignment among the virtual actuator.

  • Coordinate transformation from task to sub task.

  • Temporal planning scheduling.



Planning module1
Planning module decomposition.

If does not fit


  • Coordination & mutual constrains are required in concurrent job activities in different subsystem.

  • Example: a start event for subtask activity in one sub system may depend on goal event for subtask activity in another subsystem. Thus planning and execution of sub system plans may need to be coordinated.

  • Decision is made through a series of interaction between BG, WM, SP and VJ module, based upon it VJ chooses best plan to execute.


Thank you job activities in different subsystem.


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