Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 31, Issue 1-2, Pages 53-60Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/S0921-8890(99)00081-0
Keywords
action selection; behavior-based control; satisficing behavior; pareto-optimality
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The notion of optimality and its feasibility are revisited in the context of behavior-based control. It is argued that optimal behavior is not feasible for real-world applications. As an alternative to optimality I promote Pareto-optimal and satisficing solutions which correspond to efficient and ''good enough behavior. It is then demonstrated that multiple objective decision theory provides a suitable framework for formulating behavior-based controllers that generate Pareto-optimal and satisficing behavior. A set of simulated and real-world experiments are reported that support this view. (C) 2000 Published by Elsevier Science B.V. All rights reserved.
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