State the problem
clearly
Identify
any unstated assumptions about human competency that robot may
not have
State
simply the set of minimum competencies needed to achieve the
task
Look for
methods that will enable each competency using your robot
h/w
Match
the questions that should be asked
with sensors that can answer them
Write
behaviors that implement the methods and connect the behaviors
to fixed priority arbiters
Assume
sensors will be noisy! Plan for graceful degradation
Accept
methods that, on average, advance the task
Strive for
robustness ahead of efficiency