WORK ENVIRONMENT





 ACTION SENSING
 AGENTS AGENTS

 MODELSk
 MOD S .. SUPERVISOR

 CONOL DATA BASE
 AGENTS --USER
 SSHELLS
 STATE I
 NETWORK D
 ERROR LOGGER
 CALCULATOR

Figure 4.7. Organization of the robot programming environment.


state as perceived by the sensing agents and the desired robot state as prescribed by the control

agents in the setpoint fields. Results from the error calculator were also stored in the database

for used by the control agents.

 Models characterized significant features and events within the work environment

through functional relationships which mapped sensing agent results and other system

information to boolean results. These models characterized certain conditions based on

information from the database. The models then returned boolean values to the database to be

used by the state network for directing the intelligence of the robot. The intelligence base for

picking fruit was programmed in the state network. This intelligence gave the robot the

ability to recognize and respond to events that commonly occurred during picking. The state

network mapped elements from the modeled response set to robot reactions through states

linked together by logical exit conditions. Each state in the network defined a different

modeled response or robot reaction. The responsibility of the state network was to cause the