Distributed architecture for mobile navigation (DAMN)

The Distributed architecture for mobile navigation (DAMN) is a reactive robot architecture developed by Julio K. Rosenblatt at Carnegie Mellon University. DAMN consists of a collection of independently operating behaviors such as "go-to-goal" and "avoid obstacle", each holding a vote, weighted according to some mode manager. The votes are then counted by an arbiter, and the behavior with the most votes is chosen as the command to the vehicle controller. In DAMN, the decision-making process is distributed and asynchronous, without the need for an hierarchical structure.

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