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Uflibrary: A simulation library implementing the utility function in autonomous robots

INTERNATIONAL JOURNAL ON ARTIFICIAL INTELLIGENCE TOOLS 2007年第3期16卷 507-536页

作者： Peterson, Jimmy Wahde, Mattias Chalmers Univ Technol Dept Appl Mech S-41296 Gothenburg Sweden

A simulation software package (UF Library) implementing the utility function (UF) method for behavior selection in autonomous robots, is introduced and described by means of an example involving a simple exploration robot equipped with a repertoire of five different behaviors. The UF Library (as indeed the UF method itself) is aimed at providing a rapid yet reliable and generally applicable procedure for generating behavior selection systems for autonomous robots, while at the same time minimizing the amount of hand-coding related to the activation of behaviors. It is demonstrated how the UF Library allows a user to rapidly implement individual behaviors and to set up and carry out simulations of a robot in its arena, in order to generate and optimize, by means of an evolutionary algorithm,the behavior selection system of the robot.

关键词： behavior-based robotics utility function behavioral organization autonomous robots evolutionary robotics

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Self-detection in robots: a method based on detecting temporal contingencies

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ROBOTICA 2011年第1期29卷 1-21页

作者： Stoytchev, Alexander Iowa State Univ Dev Robot Lab Dept Elect & Comp Engn Ames IA 50011 USA

This paper addresses the problem of self-detection by a robot. The paper describes a methodology for autonomous learning of the characteristic delay between motor commands (efferent signals) and observed movements of visual stimuli (afferent signals). The robot estimates its own efferent-afferent delay from self-observation data gathered while performing motor babbling, i.e., random rhythmic movements similar to the primary circular reactions described by Piaget. After the efferent-afferent delay is estimated, the robot imprints on that delay and can later use it to successfully classify visual stimuli as either "self" or "other." Results from robot experiments performed in environments with increasing degrees of difficulty are reported.

关键词： Self-detection Self/other discrimination Developmental robotics behavior-based robotics Autonomous robotics

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behavior-based swarm robotic search and rescue using fuzzy controller

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COMPUTERS & ELECTRICAL ENGINEERING 2018年 70卷 53-65页

作者： Din, Ahmad Jabeen, Meh Zia, Kashif Khalid, Abbas Saini, Dinesh Kumar COMSATS Univ Dept Comp Sci Abbottabad Pakistan Univ Lahore Dept Comp Sci Lahore Pakistan Sohar Univ Fac Comp & Informat Technol Sohar Oman

Search and rescue (SAR) is one of the foremost issues in disaster management. A robust SAR mechanism can significantly reduce the number of causalities. This paper presents a behavior based model for a swarm of small robots to perform an efficient SAR operation in an unknown environment. The swarm is guided by a dynamically selected virtual leader (VL). A self-contained dynamic goal-seeking mechanism, using behavior-based approach, is designed to search targets (victims). Under the leadership of VL, the proposed model retains the integrity of the swarm while driving it from its current position to referenced goals. Fuzzy logic has been used to design constituent behavioral modules, namely obstacle avoidance, alignnient, and inter-robot cohesion. The model has been simulated to validate its efficiency and the findings reveal that robots moving as a swarm are more effective in the SAR process as compared to multiple single robots.

关键词： behavior-based robotics Swarm robotics Search and rescue Fuzzy controller Virtual leader Distributed search

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Modular behavior-based control for team humanoids

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ADVANCED robotics 2004年第7期18卷 659-676页

作者： Lund, HH Pagliarini, L Univ So Denmark Maersk Inst AdapTron Grp DK-5230 Odense M Denmark

When developing teams of humanoids-rather than an individual humanoid-there are a number of issues that become important to consider, including robustness, scalability, versatility, and also development and production costs. Therefore, we used a modern approach to AI that puts emphasis on the balance between control, electronic hardware, material, sensory system and energy in order to develop the team of Viki humanoid robots. In contrast to the top-down approach of equipping a humanoid with as many sensors, motors, power, etc., as possible, we developed a bottom-up approach to the construction of humanoids, regarding both hardware and software (modular behavior-based control). The approach is shown with the development of the Viki humanoid team that won the RoboCup Humanoids Free Style World Championship 2002. In this paper, we focus on the main result of the behavior-based architecture with many layers of behaviors at different levels, which make it easy for both engineers to design new behaviors and for end-users to develop humanoid behaviors at different levels of complexity, dependent on the competencies of the individual end-user. With this architecture, it becomes possible to develop simple user interfaces with a user-guided implementation of our modular behavior-based approach, in order to allow any user to design performances with the humanoid robots.

关键词： humanoids RoboCup behavior-based robotics embodied AI user interaction

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From biological inspiration toward next-generation manipulators: Manipulator control focused on human tasks

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS 2005年第1期35卷 53-65页

作者： Waarsing, BJW Nuttin, M Van Brussel, H Corteville, B Katholieke Univ Leuven Dept Engn Mech B-3001 Heverlee Belgium

This paper presents our approach to extend the niche of behavior-based robotics toward manipulation. We use results from neuroscience to derive some qualitative design rules for the mechanics of the manipulator, resulting in a next-generation manipulator, the "soft arm" By defining the basic behaviors of the manipulator as trajectory-producing behaviors (which is also biologically plausible), we have designed a first test case: writing on a board with a mobile manipulator. The soft arm has not yet been developed;therefore, we have emulated such a soft robot arm on an industrial robot.

关键词： behavior-based robotics bioinspired manipulation mobile manipulation

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Adaptive autonomous underwater vehicles for littoral surveillance The GLINT10 field trial results

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INTELLIGENT SERVICE robotics 2011年第4期4卷 245-258页

作者： Kemna, Stephanie Hamilton, Michael J. Hughes, David T. LePage, Kevin D. NATO Undersea Res Ctr Viale San Bartolomeo 400 I-19126 La Spezia Italy

Autonomous underwater vehicles (AUVs) have gained more interest in recent years for military as well as civilian applications. One potential application of AUVs is for the purpose of undersea surveillance. As research into undersea surveillance using AUVs progresses, issues arise as to how an AUV acquires, acts on, and shares information about the undersea battle space. These issues naturally touch on aspects of vehicle autonomy and underwater communications, and need to be resolved through a spiral development process that includes at sea experimentation. This paper presents a recent AUV implementation for active anti-submarine warfare tested at sea in the summer of 2010. On-board signal processing capabilities and an adaptive behavior are discussed in both a simulation and experimental context. The implications for underwater surveillance using AUVs are discussed.

关键词： Autonomous underwater vehicle Autonomy behavior-based robotics Target localization and tracking On-board processing Multi-static active sonar

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Multi-robot cooperation-based mobile printer system

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robotics AND AUTONOMOUS SYSTEMS 2006年第3期54卷 193-204页

作者： Lee, KH Kim, JH Korea Adv Inst Sci & Technol Dept Elect Engn & Comp Sci Taejon 305701 South Korea

This paper proposes a mobile printer system (MPS) based on multi-robot cooperation. The system consists of multiple mobile robots. a wireless LAN system, a graphic user interface (GUI), and a host computer. The GUI comprises a user input section, a task allocation optimization section, and a control and Communication section. Its operation is as follows: a user draws a picture oil all input window of the GUI, and then the host Computer commands client printer-robots to reproduce the same oil a paper in a finite time. To control multiple robots during this process, two kinds of multi-robot control architectures along with a collision-free arbitration configuration are proposed. One is a decentralized control architecture, which employs subsumption architecture based on behavior-based robotics. The robots continue to seek the nearest line and to draw it repeatedly until all lines are drawn. This architecture needs no pre-planning and is fault-tolerant. Another is a centralized control architecture, which employs an evolutionary algorithm (EA). The host computer optimizes the task (finding time-optimal path) allocation for each robot by using all evolutionary algorithm and sends the optimized job sequence to the robots. To minimize the elapsed time in drawing all the lines, an evolutionary algorithm with a representation of an individual Suitable for the MPS is employed for the task optimization. This architecture call minimize the elapsed time effectively and offers the option of distance-optimality in addition to time-optimality. The proposed architectures are simulated and real experiments with three omni-directional robots are carried out to demonstrate the effectiveness and the applicability of the proposed mobile printer system. (C) 2005 Elsevier B.V. All rights reserved.

关键词： mobile printer multi-robot cooperation system multi-agent system evolutionary robotics behavior-based robotics

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behavioral models of the praying mantis as a basis for robotic behavior

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robotics AND AUTONOMOUS SYSTEMS 2000年第1期32卷 39-60页

作者： Arkin, RC Ali, K Weitzenfeld, A Cervantes-Pérez, F Georgia Tech Coll Comp Atlanta GA 30332 USA Inst Technol Autonomo Mexico Dept Acad Computac Mexico City DF Mexico

Formal models of animal sensorimotor behavior can provide effective methods for generating robotic intelligence. In this article we describe how schema-theoretic models of the praying mantis derived from behavioral and neuroscientific data can be implemented on a hexapod robot equipped with a real time color vision system. This implementation incorporates a wide range of behaviors, including obstacle avoidance, prey acquisition, predator avoidance, mating, and chantlitaxia behaviors that can provide guidance to neuroscientists, ethologists, and roboticists alike. The goals of this study are threefold: to provide an understanding and means by which fielded robotic systems are not competing with other agents that are more effective at their designated task;to permit them to be successful competitors within the ecological system and capable of displacing less efficient agents;and that they are ecologically sensitive so that agent-environment dynamics are well-modeled and as predictable as possible whenever new robotic technology is introduced. (C) 2000 Elsevier Science B.V. All rights reserved.

关键词： schema-based control behavior-based robotics praying mantis behavior

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Reactive robots in the service of production management

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1998年第2期21卷 179-191页

作者： Tzafestas, ES Natl Tech Univ Athens Intelligent Robot & Automat Lab Dept Elect & Comp Engn Zografos 15773 Greece

In this paper, we advocate the use of reactive robots in industrial process control and production management. It is explained why reactive robots are well-suited to modern industrial applications that necessitate a high degree of autonomy and reactivity to unforeseen events and an illustrative example is studied in depth. A reactive robot whose role is to regulate the demands of a set of service units for tool use is described and different behavioral models for it studied and compared. Extensive simulation studies have revealed that a behavioral model relying on individual independent motivations of the robot is sufficient for it to exhibit the "optimal" behavior in this case. The process is modeled as a dynamical system that tends by itself to a steady state and that is perturbed by the robot. In turn, the robot's motivations have a steady state of their own which is contradictory with the process' steady state and hence is perturbed by its presence. As a consequence, the robot and the process are two coupled dynamical systems that perturb each other as each one tries to arrive to its steady state. For the designer, modeling of the overall problem in this way, has as a consequence that the motivational state space of the robot may be designed in advance given the process characteristics and this design should be based on a worst-case analysis. The mythical distinction between reactivity and planning is also rediscussed and the notion of operationality as opposed to optimality is explored.

关键词： behavior-based robotics reactivity motivational autonomy operationality

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Decision Making for a Mobile Robot Using Potential Function

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JOURNAL OF robotics AND MECHATRONICS 2007年第3期19卷 298-307页

作者： Oikawa, Kazumi Takauji, Hidenori Emaru, Takanori Tsuchiya, Takeshi Okubo, Shigenori Yamagata Univ 4-3-16 Jonan Yonezawa Yamagata 9928510 Japan Hokkaido Univ Kita Ku Sapporo Hokkaido 0600814 Japan Hokkaido Univ Kita Ku Sapporo Hokkaido 0608628 Japan Hokkaido Inst Technol Teine Ku Sapporo Hokkaido 0068585 Japan

We discuss decision making for a behavior-based robot with modules which determining robot action. The subsumption architecture (SA) arranges modules in layers, giving upper-layer module action priority over lower-layer modules. Although implementation is easy, results in many inefficient actions because upper-layer module are used regardless of other modules. We solve this problem by representing actions by Potential Function (PF), in which maximum votes are collected from modules. Using event-driven state transition, the robot decides its action with appropriate sets of modules changed based on the situation. We apply this to navigation tasks in a corridor and show simulation results. When we give a map and path designation to the robot, we use a handwriting map interface. We compare object-oriented design SA and PMF with our proposal and show how inefficient actions are reduced using our proposal.

关键词： potential function autonomous mobile robot indoor navigation behavior-based robotics graph map

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