الگوهای الگوسازی و ادغام رفتار

The design of software architectures for the control of complex systems is a difficult task. In particular, it requires the appropriate means to define then integrate behaviors in a flexible way. Design patterns proved efficient, in terms of flexibility and integration, in the field of software design in general. This paper extends two well-known design patterns in order to adapt them in the field of control. These new patterns describe how to specify behaviors and define the means to combine and adapt them. The interest of these patterns is illustrated by the example of the control of a legged robot.