The Electric Field Approach, EFA, is a heuristic for behavior selection for autonomous robot control. This thesis deals with the problem of using the EFA as a heuristics for the perceptive behaviors. The integration is done by extending the EFA with having
Combinatorial problems are ubiquitous in our society and solving such problems efficiently is often crucial. One technique for solving combinatorial problems is constraint-based local search. Its compositional nature together with its efficiency on large problem instances have made this technique particularly attractive.