Frustration as a generical regulatory mechanism for motivated navigation

This paper explores the use of a mechanism to auto-regulate the robot behavior in situations of persistent failures. In order to give more autonomy to a mobile robot, a generical frustration mechanism based on the automonitoring of the progress (in terms of goal distance reduction) is studied in different situations and on different parts of the robot architecture. To escape failure situations and deadlocks, the frustration reaction can inhibit the robot navigation strategies, goals or drives.