An event-driven architecture for controlling behaviors of the office conversant mobile robot, Jijo-2

In order for our office conversant robot to take robust actions according to events rising from different kind of sensors, a layered process network architecture based on an event-driven control model is presented. In this architecture, high level modules are freed from time consuming checking of sensors, and are able to follow multiple scenario-driven consistent behaviors, allowing interruption from human and environment. Programs are written as series of event-action pairs, which are also effective to keep reactiveness and modularity high.