Generating Behaviour Networks from Finite-State Machines

This paper presents a novel approach for applying behaviour-based concepts at a high, deliberative layer of a robot control system. Complex tasks which a robot shall fulfil are typically specified using finite-state machines. It is shown here that behaviour-based systems can be used to implement such machines. This allows for realising complex tasks and at the same time benefit from the advantages of behaviour-based systems. A formal method for creating a behaviour network to a given Moore machine is described. The applicability of the presented concept is demonstrated using an example from the control system of a bucket excavator.