BEHAVIOR GENERATION

1. BEHAVIOR GENERATION PRESENTED BY:- SWATI GUPTA(IIS2012005) JYOTI JAISWAL(IIS2012014)

2. 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.

3. 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).

4. BUILDING BLOCK OF RCS-4

5. LEVELS OF BEHAVIOR GENERATION

6. Task decomposition High level task Virtual sensor Goal task VJ Virtual actuator SP WM BG

7. Task decomposition • 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.

8. Behavior generation is inherently a hierarchical process. • Tasks are decomposed into subtasks that become task commands to the next lower level . • The state transition function at the level under consideration must corresponds to task name at higher level.

9. Behavior Generation • 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.

10. The world model predicts the result, and value judgment evaluates those results . • Behavior generation selects the plans with higher evolution for execution.

11. Important terms related to BG • 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.

12. Important terms related to BG • 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.

13. Planning module • Three basic operations:- • Spatial planning include job assignment among the virtual actuator. • Coordinate transformation from task to sub task. • Temporal planning scheduling.

14. Behavior generation consists of both spatial and temporal decomposition. • Spatial decomposition partitions a task into jobs to be performed by different subsystems. • Spatial task decomposition results in a tree structure , where each node corresponds too a BG module.

15. Planning module If does not fit

16. 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.

17. Thank you