Robocup 1999 Team Description

Behavior engineering with ``dual dynamics'' models and design tools

Ansgar Bredenfeld Thomas Christaller Wolf Göhring Horst Günther Herbert Jaeger Hans-Ulrich Kobialka Paul-Gerhard Plöger Peter Schöll Andrea Siegberg Arend Streit Christian Verbeek Jörg Wilberg

GMD-Robots Sponsored by: GMD

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postscript,   PDF.

Dual Dynamics (DD) is a mathematical model of a behavior control system for mobile autonomous robots. Behaviors are specified through differential equations, forming a global dynamical system made of behavior subsystems which interact in a number of ways. DD models can be directly compiled into executable code. The article (i) explains the model, (ii) sketches the Dual Dynamics Designer (DDD) environment that we use for the design, simulation, implementation and documentation, and (iii) illustrates our approach with the example of kicking a moving ball into a goal.

Maintenance information: Latest update 4.12.1999 by EMTEK group. Edit mode latex, position code C.robocup.middle.GMD-Robots. Available in postscript.