The Basics

The behavior engine assumes a three layer separation of the robot behavior control software. This package provides an environment to formulate high-level agent programs using hybrid state machines in Lua.

Essentially this environment lifts the approach of the skiller to the higher level program. It communicates with the skiller and uses it as the sole way of executing actions with the robot hardware.

You can find the newest version at

It is part of the behavior engine stack.


It builds on utility packages from the behavior_engine stack. Additionally, it uses actionlib via actionlib_lua to instruct and monitor the skiller.


Guides and howtos are currently work in progress. For now we would like to refer to the example set of agents provided in the herb_agents package.

Wiki: luaagent (last edited 2010-11-11 20:44:05 by TimNiemueller)