A Situated Vacuuming Robot

Document Type

Book Chapter

Publication Date


Published In

Proceedings Of The Fourteenth National Conference On Artificial Intelligence


We undertook this project as an opportunity to explore design ideals of the embodied approach. At our disposal was a Pioneer robot and its Saphira software (ActivMedia 1996). Similar to subsumption architecture (Brooks 1986), the Saphira software tackles the dilemma of how to implement layered control design within a system which is inherently centralized. Brooks saw each layer as a simple and almost independent computational entity and, likewise, Saphira allows us to create a hierarchy of behaviors that each have the capacity to function simultaneously and yet asynchronously. Just as Brooks proposed a means by which one level can subsume a lower level by inhibiting its output, so behaviors can each be assigned a priority.

Published By

AAAI Press


The Fourteenth National Conference On Artificial Intelligence

Conference Dates

July 27-31, 1997

Conference Location

Providence, RI