Supervenient hierarchies of behaviours-from robot vacuuming to space telerobotics

In this paper we describe the use of behaviour hierarchies based on 'merging' two models of multi-layer architecture-the supervenience model and the subsumption model. The behaviour hierarchy approach allows us to use the robustness of reactivity in behaviour design. It also encourages the design of modular behaviours that can be reused or more importantly recalibrated in different situations. We argue that behaviour hierarchies extend our ability to design and programme effective solutions that combine reactive and goal-driven components, but do not require any explicit planning. This work is used for two implemented systems in which autonomous mobile robots perform a vacuuming task and object tracking in support of a space telerobotics system.