ROBOT PARADIGM

1. By the relationship between the three commonly accepted primitives
ROBOT PARADIGM of robotics: SENSE, PLAN, ACT. The functions of a robot can be divided
PRIMITIVES into three very general categories. If a function is taking in information
from the robot’s sensors and producing an output useful by other functions,
then that function falls in the SENSE category. If the function is
taking in information (either from sensors or its own knowledge about
how the world works) and producing one or more tasks for the robot to
perform(go down the hall, turn left, proceed 3meters and stop), that function
is in the PLAN category. Functions which produce output commands
to motor actuators fall into ACT (turn 98 , clockwise, with a turning velocity
of 0.2mps). Fig. I.2 attempts to define these three primitives in terms
of inputs and outputs; this figure will appear throughout the chapters in
Part I.
2. By the way sensory data is processed and distributed through the system.
How much a person or robot or animal is influenced by what it
senses. So it is often difficult to adequately describe a paradigm with just
a box labeled SENSE. In some paradigms, sensor information is restricted
to being used in a specific, or dedicated, way for each function of a robot;

in that case processing is local to each SENSING function. Other paradigms expect
ORGANIZATION IN
ROBOT PARADIGMS
all sensor information to be first processed into one global world model
and then subsets of the model distributed to other functions as needed.