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Behaviour Control Framework

A C++ framework that uses inhibition trees for behaviour control.

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Description

The Behaviour Control Framework is a generic platform-independent C++ framework that implements a control architecture consisting of a hierarchical network of behaviour layers. These layers each contain behaviours that can inhibit one another and interact to achieve control. A full discussion of the structure and ideas behind this framework can be found in the Doxygen documentation that comes with the release. This documentation is well worth a read before you decide if the library is for you!

The structure and implementation of this library focuses on the application of the inhibition-based behaviour control architecture to real-time control loops, but can reasonably be adapted for a wide variety of other artificial intelligence applications. Emphasis has been placed on having very low overhead so as not to hurt overall system performance, while still maintaining ease of use.

I welcome all feedback, suggestions and bug reports!
Email: pallgeuer[at]ais.uni-bonn.de

Behaviour Control Framework Web Site

Features

  • Small and highly efficient performance-oriented cross-platform C++ library
  • Independent code with few external dependencies
  • Can be used to implement behaviour control code in the form of a hierarchically layered behaviour-based control architecture
  • Tried and tested by the author on various robotic platforms
  • Documented using the Doxygen documentation generation tool, including code samples and a discussion of all usage caveats
  • Well-commented library source code to allow easy modification/extension by users (who are encouraged to submit improvements/bug fixes to the author, so that the library can be improved!)
  • Academic paper on the framework: Hierarchical and State-based Architectures for Robot Behavior Planning and Control, published in Proceedings of 8th Workshop on Humanoid Soccer Robots @ Humanoids 2013

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Additional Project Details

Intended Audience

Developers, Engineering, Information Technology, Other Audience, Science/Research

Programming Language

C++

Registered

2013-09-27
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