John: Claude edited based on my notes, prompt, and SimpleBot code repository

2025-10-11T16:47:13Z

Claude edited based on my notes, prompt, and SimpleBot code repository

New page

= Behaviors: How Robots Think and Act =

'''Behaviors''' are algorithms and software patterns that connect sensing to action. They represent the "how" of robotics - the intelligence that transforms sensor data into purposeful movement.

For an introduction to how Behaviors fit into the BRS knowledge structure, see [[Robotics Ontology]].

== What Makes a Behavior? ==

A Behavior has these characteristics:

* '''Algorithm-based''': It's a defined process or decision-making pattern
* '''Language-agnostic''': Can be implemented in any programming language
* '''Sensor-agnostic''': Works with different hardware providing the same capability
* '''Reusable''': The same behavior can be used in multiple activities
* '''Testable''': You can verify if the behavior works correctly

Behaviors are different from '''Activities''' (which are user-facing tasks) and '''Capabilities''' (which are hardware). A Behavior defines "how" a robot thinks, not "what" it accomplishes or "what hardware" it uses.

== Current Behaviors ==

These behaviors have full documentation with tested implementations on [[SimpleBot]]:

{| class="wikitable" style="width: 100%;"
! Behavior !! Type !! Required Capabilities !! Used In !! Status
|-
| '''[[Behavior:Line Following]]''' || Navigation || [[Capability:Line Sensing|Line Sensing]], [[Capability:Differential Drive|Differential Drive]] || [[Activity:Line Following]] || '''Fully Documented'''
|-
| '''[[Behavior:Dead Reckoning]]''' || Navigation || [[Capability:Optical Odometry|Odometry]], [[Capability:Differential Drive|Differential Drive]] || [[Activity:Dead Reckoning Navigation]] || '''Fully Documented'''
|}

== Future Behaviors (Stubs) ==

These behaviors are '''not yet implemented''' in any BRS robot. They represent opportunities for community contribution! Implement these algorithms and document them.

{| class="wikitable sortable" style="width: 100%;"
! Behavior !! Type !! Required Capabilities !! Enables Activities !! Status
|-
| [[Behavior:PID Control]] || Control || Sensors + Actuators || Precise motion, line following improvements || '''Stub''' - Waiting for implementation
|-
| [[Behavior:Wall Following]] || Navigation || Distance Sensing, Movement || Maze solving, room navigation || '''Stub''' - Waiting for implementation
|-
| [[Behavior:Pathfinding]] || Planning || Mapping, Movement || Optimal navigation, maze optimization || '''Stub''' - Advanced algorithm
|-
| [[Behavior:SLAM]] || Mapping || LIDAR/Distance, Odometry || Room mapping, autonomous navigation || '''Stub''' - Advanced algorithm
|}

== Behaviors by Type ==

=== Navigation Behaviors ===
* [[Behavior:Line Following]] (documented) - Follow visual guides
* [[Behavior:Dead Reckoning]] (documented) - Navigate using motion measurement
* [[Behavior:Wall Following]] (stub) - Follow walls and obstacles

=== Control Behaviors ===
* [[Behavior:PID Control]] (stub) - Proportional-Integral-Derivative feedback control

=== Planning Behaviors ===
* [[Behavior:Pathfinding]] (stub) - Calculate optimal routes

=== Mapping Behaviors ===
* [[Behavior:SLAM]] (stub) - Simultaneous Localization and Mapping

== How Behaviors Connect Capabilities to Activities ==

Behaviors are the bridge between what your robot '''can''' do (capabilities) and what it '''should''' do (activities). Here's how they connect:

{| class="wikitable" style="width: 100%;"
! Activity !! Behavior !! Required Capabilities !! Status
|-
| [[Activity:Line Following]] || [[Behavior:Line Following]] || Line Sensing + Differential Drive || '''Implemented'''
|-
| [[Activity:Dead Reckoning Navigation]] || [[Behavior:Dead Reckoning]] || Optical Odometry + Differential Drive || '''Implemented'''
|-
| [[Activity:Maze Solving]] || [[Behavior:Wall Following]] + Navigation || Distance/Bump Sensing + Movement || Stub
|-
| [[Activity:Room Mapping]] || [[Behavior:SLAM]] || LIDAR + Odometry + Movement || Stub
|}

== Algorithm Variations ==

Many behaviors have multiple algorithm variants. For example, [[Behavior:Line Following]] includes:

* '''One-sensor algorithm''' - Rotate until line found, drive forward, repeat (simple but choppy)
* '''Two-sensor algorithm''' - Turn toward whichever sensor detects the line (smooth beginner approach)
* '''Multi-sensor array with PID''' - Proportional control for smooth, fast tracking (advanced)

Good behavior documentation should:
* Describe multiple approaches (from simple to advanced)
* Explain trade-offs (speed vs complexity, smoothness vs code simplicity)
* Provide pseudocode for each variant
* Show when to use each variant

== How to Use Behavior Pages ==

Each Behavior page provides:

# '''Overview''' - What the behavior does and why it matters
# '''Algorithm description''' - Step-by-step logic in plain language
# '''Pseudocode''' - Language-agnostic code structure
# '''Variants''' - Different approaches (simple, intermediate, advanced)
# '''Tuning parameters''' - Variables you can adjust (speed, thresholds, gains)
# '''Required capabilities''' - What hardware is needed
# '''Activities enabled''' - What this behavior allows robots to do
# '''Implementation links''' - Robot-specific code examples

== Implementing Behaviors on Your Robot ==

Want to implement a behavior on your robot?

# '''Read the behavior page''' - Understand the algorithm
# '''Verify capabilities''' - Ensure your robot has required sensors/actuators
# '''Choose a variant''' - Pick an algorithm complexity that fits your needs
# '''Study the pseudocode''' - Understand the logic flow
# '''Write code for your platform''' - Translate to Python, C++, Arduino, etc.
# '''Test incrementally''' - Start simple, verify each step works
# '''Tune parameters''' - Adjust speeds, thresholds, timing
# '''Document it!''' - Create an implementation page for your robot
# '''Share your results''' - Help others learn from your experience

== Pseudocode Standards ==

BRS behavior documentation uses consistent pseudocode conventions:

* '''Indentation''' shows control flow (loops, conditionals)
* '''CAPS_WITH_UNDERSCORES''' for configuration constants
* '''camelCase''' for variables
* '''Comments''' explain the "why", not just the "what"
* '''Functions''' are named with action verbs (driveForward, readSensor)

This makes pseudocode easy to translate to any real programming language.

== Contributing New Behaviors ==

Want to add a new behavior?

Consider:
# '''Is it distinct?''' - Different from existing behaviors?
# '''Is it reusable?''' - Can it enable multiple activities?
# '''Is it well-understood?''' - Can you explain the algorithm clearly?
# '''Can you provide variants?''' - Simple and advanced approaches?

Then:
# Create a Behavior page using [[Template:Behavior]]
# Describe the algorithm in plain language
# Provide clear pseudocode
# Explain tuning parameters and trade-offs
# Show which capabilities it requires
# List activities it enables
# Implement it on your robot
# Create implementation documentation with real code

== See Also ==

* [[Robotics Ontology]] - How Behaviors fit into the BRS knowledge structure
* [[Activities]] - What behaviors enable robots to accomplish
* [[Capabilities]] - Hardware that behaviors require
* [[SimpleBot]] - BRS's first robot, demonstrating two behaviors

[[Category:Behaviors]]
[[Category:Ontology]]

Behaviors - Revision history

John: Claude edited based on my notes, prompt, and SimpleBot code repository