Distributed architecture for mobile navigation (DAMN) is a behavior-based control system framework where multiple independent modules vote on the actions a robot should take. An arbiter tallies these votes to determine the final command sent to the actuators, allowing the robot to balance conflicting goals like obstacle avoidance and path following.
Heard on the job
We need to tune the DAMN arbiter because the obstacle avoidance module is overriding the waypoint tracker too aggressively.