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SORGIN : A SOFTWARE FRAMEWORK FOR BEHAVIOR CONTROL IMPLEMENTATION

This paper describes the software framework that has been developed and that it is being used to build a control architecture for the navigation of a B21 mobile robot. The subsumption architecture and the multi-agent based controller architectures are analyzed and a software framework named SORGIN is presented as a structured programming tool that allows to deal with the complexity of mobile robotic systems. We show how a task that performs safe wandering with a privileged compass orientation has been defined using different behavior bricks in the SORGIN framework.