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14th International Conference on Informatics in control, Automation and Robotics (ICINCO)

作者： Wolf, Patrick Ropertz, Thorsten Berns, Karsten Univ Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9783030112929;9783030112912

In off-road environments, the assessment and classification in travers-able and non-traversable areas is a challenging task. Not only does the drive-ability depend on the vehicle's state in combination with the environmental geometry, but also the assessment is complicated by noisy and wrong sensor data. Thereby, faulty evaluation may lead to severe harm to goods or people since either safety issues or reliability problems are caused. While for the control part behavior-based systems proved to be suitable due to their inherent robustness against unforeseen situations, robust perception is still an unsolved problem leading to severe system failures. This paper faces the perception problem by introducing a new data quality-based perception module based on the integrated behavior-based control (iB2C) architecture. Therefore, a new concept of data quality in behavior-based systems and methods for quality aware data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture.

关键词： behavior-based control Quality-based perception Obstacle avoidance Off-road robotics

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Optimization of source identification algorithm derived from moth-inspired plume tracing strategies

Optimization of source identification algorithm derived from...

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International Symposium on Computational Intelligence in Robotics and Automation

作者： Li, Wei Sutton, Joseph E. Calif State Univ Bakersfield Dept Comp Sci Bakersfield CA 93311 USA

ISBN: (纸本)9781424407897

This paper presents a method of designing and optimizing a single chemical sensor-based source identification algorithm, derived from moth-inspired chemical plume tracing (CPT) strategies. In doing it, we define a source identification zone (SIZ) using last chemical detection points (LCDPs). Then, we optimize the proposed algorithm using a simulated plume with significant meander and filament intermittency by considering dynamics of a REMUS vehicle. The simulation studies show that for 1000 test runs the optimized algorithm achieves a success rate of over 90% in identifying source locations, an average identification time of 3-4 minutes, and an average error of identified source locations 1 similar to 2 meters in an operation area with length scales of 100 meters. In addition, we discuss an extension of the moth-inspired strategies to trace a plume and identify the odor source with static location in a three-dimensional space.

关键词： autonomous underwater vehicles odor source identification chemical plume tracing behavior-based control

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Setup and control Architecture for an Interactive Shopping Cart in Human All Day Environments

Setup and Control Architecture for an Interactive Shopping C...

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14th International Conference on Advanced Robotics

作者： Goeller, Michael Kerscher, Thilo Zoellner, J. Marius Dillmann, Ruediger Devy, Michel Germa, Thierry Lerasle, Frederic Univ Karlsruhe FZI Forschungszentrum Informat Interact Diag & Serv Syst IDS Haid & Neu Str 10-14 D-76131 Karlsruhe Germany CNRS LAAS F-31077 Toulouse France Univ Toulouse 1 INSA INPT LAAS F-31042 Toulouse France

ISBN: (纸本)9781424448555

This paper describes the global robotics architecture for a service robot dedicated to commercial centers, i.e. an interactive Shopping Cart. A main focus is the introduction of robots into human all day environments. These environments often have a cluttered and nested character. They are full of dynamic objects. Especially the probable presence of many people is a special challenge to cope with. This paper introduces a setup and a control architecture to handle these challenges with a special focus on the interaction between the robot and one dedicated user of the robot. The design should take into account that not only a single robot but also a whole fleet of similar robots can be located in the same area. Therefore passive sensor systems are preferred to avoid glaring effects. The layered control architecture is cut out of a whole system architecture that contains additional communication and application logic capabilities. The two main tasks the control architecture has to fulfill is the navigation that is split in a topological and in a reactive part as well as interaction of the robot with its user and with other robots. It is supported by a set of logical sensors significantly.

关键词： control architecture user interaction obstacle detection human robot interaction behavior-based control

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CAMPOUT: A control architecture for multi-robot planetary outposts

CAMPOUT: A control architecture for multi-robot planetary ou...

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Conference on Sensor Fusion and Decentralized control in Robotic Systems III

作者： Pirjanian, P Huntsberger, TL Trebi-Ollennu, A Aghazarian, H Das, H Joshi, SS Schenker, PS CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)0819438618

A manned Mars habitat will require a significant amount of infrastructure that can be deployed using robotic precursor missions. This infrastructure deployment will probably include the use of multiple, heterogeneous, mobile robotic platforms. Delays due to the long communication path to Mars limit the amount of teleoperation that is possible. A control architecture called CAMPOUT (control Architecture for Multirobot Planetary Outposts) is currently under development at the Jet Propulsion Lab in Pasadena, CA. It is a three layer behavior-based system that incorporates the low level control routines currently used on the JPL SRR/FIDO/LEMUR revers. The middle behavior layer uses either the BISMARC (Biologically Inspired System for Map based Autonomous Rover control) or MOBC (Multi-Objective behavior control) action selection mechanisms. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. We report the results of some ongoing work at the Jet Propulsion Lab in Pasadena, CA on the transport phase of a photovoltaic (PV) tent deployment mission.

关键词： behavior-based control multiple mobile robots robot outposts

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Learning in behavior-based multi-robot systems: Policies, models, and other agents

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Cognitive Systems Research 2001年第1期2卷 81-93页

作者： Matarić, Maja J. Computer Science Department University of Southern California Los Angeles CA 90089-0781 941 West 37th Place Mailcode 0781 United States

This paper describes how the use of behaviors as the underlying control representation provides a useful encoding that both lends robustness to control and allows abstraction for handling scaling in learning, focusing on multi-agent/robot systems. We first define situatedness and embodiment, two key concepts in behavior-based systems (BBS), and then define BBS in detail and contrast it with alternatives, namely reactive, deliberative, and hybrid control. The paper ten focuses on the role and power of behaviors as a representational substrate in learning policies and models, as well as learning from other agents (by demonstration and imitation). We overview a variety of methods we have demonstrated for learning in the multi-robot problem domain. © 2001 Elsevier Science B.V. All rights reserved.

关键词： behavior-based control Imitation learning Robot learning Social learning

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Impact of managerial control on the relationship between customer incivility and frontline employees' up-selling behavior

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SERVICE BUSINESS 2021年第4期15卷 639-665页

作者： Hur, Won-Moo Moon, Tae-Won Kim, Minsung Inha Univ Coll Business Adm 100Inha Ro Incheon South Korea Hongik Univ Sch Business Adm 72-1 Sangsu Dong Seoul 121791 South Korea

This study examined the relationship between customer incivility and salespeople's up-selling behavior as mediated via emotional exhaustion and the moderating effect of sales control systems (e.g., outcome-based control and behavior-based control) on the relationship. Survey data from 397 salespeople working at department stores in South Korea were examined. The results indicated that the negative relationship between customer incivility and up-selling behavior was mediated by emotional exhaustion. Outcome-based control buffered the negative outcomes of customer incivility, whereas behavior-based control strengthened the negative relationship between customer incivility and emotional exhaustion. Furthermore, outcome-based control decreased the negative indirect relationship between customer incivility and up-selling behavior, while behavior-based control amplified it.

关键词： Customer incivility Emotional exhaustion Up-selling behavior Outcome-based control behavior-based control

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A self-adjusting oscillator controller for robots exploring dynamic or unknown environments

A self-adjusting oscillator controller for robots exploring ...

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5th Biannual World Automation Congress

作者： Anderson, G Cheng, G Univ Arkansas Dept Appl Sci Little Rock AR 72204 USA

ISBN: (纸本)1889335193

This paper describes an oscillator-based controller that was implemented on a two-wheeled, differential drive robot. The controller is loosely based on the Central Pattern Generator circuits seen in many animals, and was developed to operate in unknown or changing environments. A unique feature is that the controller adjusts its oscillator parameters based on the pattern of sensory feedback. The controller's performance in a test arena with random obstacles and changing light patterns is evaluated. The goal of the robot was to seek out areas of bright light and "collect" as much light as possible during a trial. The results of the indicate that the performance of the self-adjusting oscillator-based controller is better than that of a fixed-oscillator controller.

关键词： coupled oscillators behavior-based control sensor-based control self-adjusting controller

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Motion generation for humanoid robots with automatically derived behaviors

Motion generation for humanoid robots with automatically der...

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IEEE International Conference on Systems, Man and Cybernetics (SMC 03)

作者： Erol, D Park, J Turkay, E Kawamura, K Jenkins, OC Mataric, MJ Vanderbilt Univ Ctr Intelligenet Syst Nashville TN 37240 USA

ISBN: (纸本)0780379527

In this paper, we present a method for motion generation from automatically derived behaviors for a humanoid robot. behaviors are derived automatically by using the underlying spatio-temporal structure in motion. Vie derived behaviors are stored in a robot's long-term (or procedural) memory. New motions are generated from the derived ones with a search mechanism. In our approach, vision, speech recognition, short-term memory and decision-making operate in parallel with long-term memory in a unique architecture. This organization is intended for autonomous robot control and learning.

关键词： humanoid robot behavior-based control motion learning long-term memory Spatio-temporal Isomap

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Development of a Guidance and control System for an Underwater Plume Exploring AUV

Development of a Guidance and Control System for an Underwat...

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8th World Congress on Intelligent control and Automation (WCICA)

作者： Tian, Yu Zhang, Aiqun Chinese Acad Sci Grad Sch Beijing 100049 Peoples R China Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China

ISBN: (纸本)9781424467129

In recent years, adaptive and autonomous exploration of underwater plumes with autonomous underwater vehicles (AUVs) becomes a hot research topic, due to its significant applications. For the researches on AUV underwater plume exploring, design, optimization and validation of the control strategies and autonomous behaviors of the AUVs is the key issue. In order to study various control strategies and behaviors on an AUV platform, a stable and reliable low-level guidance and control system should be first designed. In this paper, we proposed a modular behavior-based control architecture, and addressed the design of the guidance module and kinematic variables control module which are the low-level part of the control architecture for an underwater plume exploring AUV. Simulation examples are presented, which demonstrate the good performance of the developed guidance and kinematic variables control system.

关键词： Autonomous underwater vehicles underwater plume exploration behavior-based control guidance and control

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Moth plume-tracing derived algorithm for identifying chemical source in near-shore ocean environments

Moth plume-tracing derived algorithm for identifying chemica...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Li, Wei Calif State Coll Bakersfield Dept Comp Sci Bakersfield CA 93311 USA

ISBN: (纸本)9781424409129

This paper derives a single chemical sensor based algorithm from the moth-inspired chemical plume strategies for identifying plume sources in fluid-advected environments. We evaluate the algorithm performance using a simulated plume with significant meander and filament intermittency. The in-water test runs demonstrated the algorithm effective and robust to the variation of near-shore ocean environments.

关键词： biologically inspired robots autonomous underwater vehicles odor source identification chemical plume tracing behavior-based control

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