Experiences Using the Dynamical System Paradigm for Programming RoboCup Robots
Autonomous mobile robots in dynamic environments have to switch from the „stop and wait until I’m sure“ mentality to a continuous movement kind of style. As both the robot and objects in its surrounding move, the robot has to react on sensory input as fast as possible but without becoming instable. This is challenging also because speed increases the uncertainty of sensory input. Therefore techniques are needed to protect the behavior system from the effects of noisy input, to avoid self-induced instabilities, and to issue motor commands which are continuous over time. The mathematical framework of dynamical systems offers techniques to care for system stability and therefore is the natural choice. The Dual Dynamics architecture allows to model robot behavior as dynamical systems. We use the DD approach successfully since years to program our soccer robots. These experiences are reported in this paper.