Instinct: A biologically inspired reactive planner for intelligent embedded systems

Robert H. Wortham, Swen E. Gaudl, Joanna J. Bryson

Abstract: The Instinct Planner is a new biologically inspired reactive planner, based on an established behaviour based robotics methodology and its reactive planner component — the POSH planner implementation. It includes several significant enhancements that facilitate plan design and runtime debugging. It has been specifically designed for low power processors and has a tiny memory footprint. Written in C++, it runs efficiently on both Arduino (Atmel AVR) and Microsoft VC++ environments and has been deployed within a low cost maker robot to study AI Transparency. Plans may be authored using a variety of tools including a new visual design language, currently implemented using the Dia drawing package.