@article{Antonelli2008e,
  author = {Antonelli, Gianluca and Arrichiello, Filippo and Chiaverini, Stefano},
  title = {The null-space-based behavioral control for autonomous robotic systems},
  journal = {Intelligent Service Robotics},
  volume = {1},
  number = {1},
  doi = {10.1007/s11370-007-0002-3},
  issn = {ISSN(print='18612776', electronic='18612784')},
  abstract = {In this paper a new behavior-based approach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach is compared with the main existing approaches while two experimental case studies, performed with a Khepera II mobile robot, are reported to validate its effectiveness. © 2007 Springer-Verlag.},
  year = {2008},
}

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