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The '''Distributed architecture for mobile navigation (DAMN)''' is a [[mobile robot]] architecture developed by [[Julio K. Rosenblatt]] at [[Carnegie Mellon University]].<ref name=Rosenblatt1997>{{cite journal
| author = Rosenblatt, J.K.
| year = 1997
| title = DAMN: a distributed architecture for mobile navigation
| journal = [[Journal of Experimental and Theoretical Artificial Intelligence]]
| volume = 9
| issue = 2–3
| pages = 339–360
| doi = 10.1080/095281397147167
| citeseerx = 10.1.1.108.3238
}}</ref> DAMN consists of a collection of independently operating behaviors such as "go-to-goal" and "avoid obstacle", and an arbiter. The arbiter generates a set of feasible action possibilities for the robot over a short time horizon, and the behaviours vote on (i.e. express utility for) these candidate actions. Votes may be weighted by a mode manager. The Pareto optimal action is then sent to the vehicle controller. One method of obtaining votes is for behaviours to asynchronously update a utility map over the configuration space of the robot. The arbiter then overlays paths resulting from action candidates onto the map, and samples utilities along the paths. This approach is known as ''utility fusion''. In DAMN, the [[decision-making]] process is [[distributed processing|distributed]] and asynchronous, without the need for an hierarchical structure.

== See also ==
* [[Three-layer architecture]]
* [[Servo, subsumption, and symbolic (SSS) architecture]]
* [[ATLANTIS architecture]]
* [[Autonomous robot architecture (AuRA)]]

==References==
{{reflist}}

[[Category:Robot architectures]]

{{robot-stub}}

Distributed architecture for mobile navigation - Revision history

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