Attributes of the Hierarchical Paradigm

Attributes of the Hierarchical Paradigm

As noted in Part I, a robotic paradigm is defined by the relationship between
the three primitives (SENSE, PLAN, ACT) and by the way sensory data is
processed and distributed through the system.
The Hierarchical Paradigm is sequential and orderly, as shown in Figs. 2.2
and 2.3. First the robot senses the world and constructs a global world map.
Then “eyes” closed, the robot plans all the directives needed to reach the

Creating a single representation which can store all of this information can

be very challenging. Part of the reason for the “sub-turtle” velocity was the

lack of computing power during the 1960’s. However, as roboticists in the

1980’s began to study biological intelligence, a consensus arose that even

with increased computing power, the hierarchical, logic-based approach was

unsatisfactory for navigational tasks which require a rapid response time to

an open world.