Reactive Acting

Real-Time Response

Reactive systems respond immediately to environmental changes without deliberation.

Principles

1. Stimulus-response: Direct mapping from perception to action
2. Situatedness: Actions depend on current state
3. Timeliness: Responses within time constraints

Architectures

Subsumption Architecture

Layered behaviors: - Higher layers inhibit lower ones - Behaviors compete for control

Potential Fields

Navigate using virtual forces:

def compute_force(robot_pos, goal, obstacles):
    f_goal = k * (goal - robot_pos)
    f_obs = sum(f_repulsion(robot_pos, obs) for obs in obstacles)
    return f_goal + f_obs

Hybrid Approaches

Combine reactive and deliberative: - Reactive layer for immediate response - Deliberative layer for complex tasks

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