Failure Detection and Dynamic Extensions for Behavior-Based Subsumption

Behavior-based and reactive control methods are popular choices for building fast and lightweight intelligent controllers for resource-constrained systems. Reactive methods are extremely useful in highly resource-constrained applications, but at a cost: they tend to be even more susceptible to certain types of failures than deliberative techniques. Without a planner to adapt to changes, even a small failure can result in incorrect behavior from the entire controller. In this paper, we propose extensions to behavior-based subsumption that can detect four types of failures.