An AUV Simulator For Test And Development Of A Behavior Based Architecture

a single layer, for instance allowing usage of conflicting behaviors which otherwise would be problematic to have running in the same vehicle. There are known problems of behavior based architectures, one of the more important being the deadlock problem. In spite of having advanced a general solution, in the form of fatigue and recovery times, this may not be enough to cover all cases. However, with the type of architecture we proposed, another approach yet to explore, for deadlock prevention, is oriented towards some sort of verification by the highest levels in the behavior hierarchy. These behaviors, with simple mechanisms like time-outs or alike should be able to avoid the referred situations by decreasing the priority of active behaviors allowing the vehicle to evolve to another state.