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IEEE International Conference on Electro Information Technology (EIT)

作者： Santos, Jose Gilmore, Alisa N. Hempel, Michael Sharif, Hamid Univ Nebraska Dept Elect & Comp Engn ECE Lincoln NE 68583 USA

ISBN: (纸本)9781509047673

behavior-based robotics is a novel approach to robotic programming whereby multiple behaviors execute in parallel using a multilayer architecture, organized by priority. However, in certain architectures, such as the subsumption architecture pioneered by Rodney Brooks, only one such behavior can be active at a time, requiring their coordination. Supporting such architectures requires hardware/software resources for multithreaded support for behaviors to execute concurrently. This makes behavior-based programming inaccessible to small educational robotics platforms usually powered by a uniprocessor (single-threaded) execution model. In this paper, we present an approach employed for an introductory Mobile robotics course at the University of Nebraska-Lincoln that allows our students to both learn and implement behavior-based robotic programming using the C language on a uniprocessor-based mobile robotics platform known as the CEENBoT. This allows students to learn about robot programming using physical, situated robots, using a valuable language employed in embedded systems, supporting common goals of ECE programs, instead of relying on uncommon languages that have fallen into disuse and are quickly becoming obsolete. Results obtained from end-of-semester surveys are shown to demonstrate that students value the behavior-based elements of the course above other unique features it has to offer.

关键词： behavior-based robotics Embedded robotics ECE STEM Robot Programming Subsumption C Programming Classroom Mobile robotics Programming Paradigm CEENBoT CEENBoT-API

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Design patterns for behavior-based robotics

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS 2000年第1期30卷 36-41页

作者： Graves, AR Czarnecki, C De Montfort Univ Sch Comp Sci Ctr Computat Intelligence Leicester LE1 9BH Leics England

The use of patterns allows proven design expertise to be captured, communicated and reused in areas such as architecture and object-oriented programming. The artificial intelligence discipline of behavior-based robotics is an area in which such design expertise has undoubtedly accumulated, although it has not been captured and formalized. Consequently, the creation of these robotic systems remains a relatively unstructured process requiring a large amount of trial-and-error development. There is therefore a strong case for representing the previous design expertise which has been developed in this field. This paper describes how this may be achieved through the use of design patterns.

关键词： behavior-based robotics behavior engineering design patterns subsumption architecture

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Concepts and fuzzy models for behavior-based robotics

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INTERNATIONAL JOURNAL OF APPROXIMATE REASONING 2006年第2期41卷 110-127页

作者： Bonarini, A Matteucci, M Restelli, M Politecn Milan Dipartimento Elettron & Informaz Artificial Intelligence & Robot Lab I-20133 Milan Italy

In this paper, we propose a modeling paradigm that uses fuzzy sets to represent concepts oil which control modules of a behavior-based autonomous robot operate. The primitives defined in the modeling paradigm are expressive enough to represent the knowledge needed by planning, coordination, and reactive control of a multi-robot control system. At the same time, it provides a well-founded tool to represent in a compact way the data interpretations needed to reason effectively about what is happening in the world and what is desired to happen. This modeling paradigm makes the design of behavior, planning, and coordination modules easy, since its primitives are simple and expressive. Moreover, it provides a sound framework to deal with uncertainty in sensing and world modeling. (C) 2005 Elsevier Inc. All rights reserved.

关键词： fuzzy behaviors autonomous avents fuzzy world modeling multi-agent behavior-based robotics

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A robust method for mobile robot tracking object on behavior-based robotics

A robust method for mobile robot tracking object on behavior...

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1st International Symposium on Information Technologies and Applications in Education (ISITAE 2007)

作者： Meng, Yan Liu, Xiyu Liang, Zhen Shandong Normal Univ Dept Management & Econ Jinan 250014 Peoples R China Shandong Univ Sci & Technol Dept Pattern Recognit Jinan 250014 Peoples R China

ISBN: (纸本)9781424413850

Introduce a robust and flexible mobile robot control system. Motion Description Language is brought in behavior-based robotics. The behavior-based robotics does well in controlling mobile robot. Using Motion Description Language, not only the interactions between discrete and continuous dynamics existing in a robotics system can be described, but the complexin: of steering a robot can also be measured quantitatively. In this paper, the problem of object-following by nonholonomic wheeled mobile robots is studied using this method, and a matlab simulative results verify the validity of this method in the end.

关键词： behavior-based robotics motion description language wheeled mobile robot object-following

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Concepts and fuzzy models for behavior-based robotics

Concepts and fuzzy models for behavior-based robotics

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5th International Workshop on Fuzzy Logic and Applications

作者： Bonarini, A Matteucci, M Restelli, M Politecn Milan Dipartimento Elettron & Informaz Artificial Intelligence & Robot Lab I-20133 Milan Italy

ISBN: (纸本)3540310193

关键词： fuzzy behaviors autonomous avents fuzzy world modeling multi-agent behavior-based robotics

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A model to manage data reliability in behavior-based robotics

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IFAC Proceedings Volumes 2004年第8期37卷 209-214页

作者： Andrea Bonarini Matteo Matteucci Marcello Restelli Politecnico di Milano Department of Electronics and Information Piazza Leonardo da Vinci 32 30133 Milan Italy

In behavior-based robotics, robots are controlled by behavioral modules that are triggered on data perceived by sensors or according to some model of the situation to be faced. However, data are acquired by imperfect sensors and, whenever a world modeler exists, are usually interpreted by modelling algorithms that abstract the relevant features inevitably loosing information. In this paper, we present our approach to data reliability and to its propagation through the path from data to actuation. We show how reliability is different from truth value or from approximation and how this impacts on the agent's performance

关键词： behavior-based robotics behavior-based robotics behaviors fuzzy behaviors data reliability

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A Robust Method for Mobile Robot Tracking Object on behavior-based robotics

A Robust Method for Mobile Robot Tracking Object on Behavior...

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第一届国际教育信息技术及应用研讨会(2007 1st International Symposium on Information Technologies and Applications in Education(ISITAE 2007))

作者： Xiyu Liu Yan Meng Zhen Liang Department of Management and Economy Shandong Normal University Jinan 250014 China Department of Pattern Recognition Shandong University of Science and TechnologyQingdao 266510 Ch

Introduce a robust and flexible mobile robot control system. Motion Description Language is brought in behavior-based robotics. The behaviorbased robotics does well in controlling mobile robot. Using Motion Description Language, not only the interactions between discrete and continuous dynamics existing in a robotics system can be described, but the complexity of steering a robot can also be measured quantitatively. In this paper, the problem of objectfollowing by nonholonomic wheeled mobile robots is studied using this method, and a matlab simulative results verify the validity of this method in the end.

关键词： behavior-based robotics Motion description language Wheeled mobile robot Objectfollowing

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A behavior-based Approach for Educational robotics Activities

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IEEE TRANSACTIONS ON EDUCATION 2013年第1期56卷 61-66页

作者： De Cristoforis, Pablo Pedre, Sol Nitsche, Matias Fischer, Thomas Pessacg, Facundo Di Pietro, Carlos Univ Buenos Aires Dept Comp Fac Ciencias Exactas & Nat RA-1428 Buenos Aires DF Argentina

Educational robotics proposes the use of robots as a teaching resource that enables inexperienced students to approach topics in fields unrelated to robotics. In recent years, these activities have grown substantially in elementary and secondary school classrooms and also in outreach experiences to interest students in science, technology, engineering, and math (STEM) undergraduate programs. A key problem in educational robotics is providing a satisfactory, adequate, easy-to-use interface between an inexpert public and the robots. This paper presents a behavior-based application for programming robots and the design of robotic-centered courses and other outreach activities. Evaluation data show that over 90% of students find it easy to use. These activities are part of a comprehensive outreach program conducted by the Exact and Natural Science Faculty of the University of Buenos Aires, Argentina (FCEN-UBA). Statistical data show that since 2009 over 35% of new students at the FCEN-UBA have participated in some outreach activity, suggesting their significant impact on student enrollment in STEM-related programs.

关键词： behavior-based robotics educational robotics mobile robots robots programming interface STEM outreach

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An auction behavior-based robotic architecture for service robotics

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INTELLIGENT SERVICE robotics 2014年第3期7卷 157-174页

作者： Towle, Bradford A., Jr. Nicolescu, Monica Univ Nevada Coll Engn SEM 242Reno 0171 Reno NV 89577 USA

Service robots have the potential of improving the quality of life and assist with people's daily activities. Such robots must be capable of operating over long periods of time, performing multiple tasks, and scheduling them appropriately for execution. In addition, service robots must be capable of dealing with tasks whose goals may be in conflict with each other and would need to determine, dynamically, which task to pursue in such a case. Adding to the complexity of the problem is the fact that some task requests may have time constraints-deadlines by which the task has to be completed. Given the dynamic nature of the environment, the robots must make decisions on what tasks to pursue in situations where there could be incomplete or missing information. The robots should also be capable of accepting requests for new tasks or services at runtime, while possibly working on another task. In order to achieve these requirements, this paper presents the Auction behavior-based Robotic Architecture that brings the following contributions: (1) it uses an auction mechanism to determine the relevance of a task to run at any given time, (2) it handles multiple user requests while dealing with potentially critical time constraints and incomplete information, (3) it enables long-term robot operation and (4) it allows for dynamic assignment of new tasks. The proposed system is validated on a physical robotic platform, the Segway RMP (R) and in simulation.

关键词： Auction-based robotic architecture Intelligent action selection Dynamic time and environmental constraints behavior-based robotics

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A General Architecture for robotics Systems: A Perception-based Approach to Artificial Life

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ARTIFICIAL LIFE 2017年第2期23卷 236-286页

作者： Young, Rupert Perceptual Robots Windsor SL4 1TB England

Departing from the conventional view of the reasons for the behavior of living systems, this research presents a radical and unique view of that behavior, as the observed side effects of a hierarchical set of simple, continuous, and dynamic negative feedback control systems, by way of an experimental model implemented on a real-world autonomous robotic rover. Rather than generating specific output from input, the systems control their perceptual inputs by varying output. The variables controlled do not exist in the environment, but are entirely internal perceptions constructed as a result of the layout and connections of the neural architecture. As the underlying processes are independent of the domain, the architecture is universal and thus has significant implications not only for understanding natural living systems, but also for the development of robotics systems. The central process of perceptual control has the potential to unify the behavioral sciences and is proposed as the missing behavioral principle of Artificial Life.

关键词： robotics perceptual control theory behavior-based robotics embodiment situatedness controlled variables

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