Minimalist Mobile Robotics

16

1.

Introduction

another, often one agent will maneuver the robot into a situation

which will cause the activation of another agent. In this respect,

these variables also allow agents to communicate through the

world and coordinate their

actions.

Many times one behavior can

key off some side effect of another behavior. This obviates the

need for any special internal communication channel or message

drop which, in turn, helps preserve the modularity of the

system. Introducing new interface primitives, such as a

retract-

arm-now signal, could require us to rewrite the lower levels of

the control system to conform to this altered effector protocol ...