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IEEE International Conference on robotics and Automation

作者： Bredenfeld, A Indiveri, G GMD Inst AiS D-53754 St Augustin Germany

ISBN: (纸本)0780365763

We present a novel robotic software development framework for rapid simulation and programming of mobile robot teams. The framework uses a specification-centred generative approach. A robot control program is specified in an intuitive graphical representation of a hyper-graph of typed data processing elements, This specification is automatically refined to all design artifacts required in a robotic software development environment: simulation models, robot control programs, team communication infrastructure, documentation, and real-time monitoring. Although our framework was originally, intended to design behavior-based robot control programs using the Dual Dynamics architecture, we demonstrate the flexibility of the environment by an example which integrates a "classical" control schema into a Dual Dynamics behavior system. Experimental validation was done on GMD-Robots, our team of mid-size league RoboCup robots.

关键词： programming and architecture rapid prototyping and design automation behavior-based robotics robotic software development framework

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Multi-robot communication-sensitive reconnaissance

Multi-robot communication-sensitive reconnaissance

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IEEE International Conference on robotics and Automation

作者： Wagner, A Arkin, R Georgia Inst Technol Coll Comp Atlanta GA 30332 USA

ISBN: (纸本)0780382323

This paper presents a method for multi-robot communication-sensitive reconnaissance. This approach utilizes collections of precompiled vector fields in parallel to coordinate a team of robots in a manner that is responsive to communication failures. Collections of vector fields are organized at the task level for reusability and generality. Different team sizes, scenarios, and task management strategies are investigated. Results indicate an acceptable reduction in communication attenuation when compared to other related methods of navigation. Online management of tasks and potential scalability are discussed.

关键词： behavior-based robotics internalized plan multi-robot reconnaisance

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Task Oriented behavior-based State-Adaptive PID (Proportional Integral Derivative) Control for Low-Cost Mobile Robot

Task Oriented Behavior-Based State-Adaptive PID (Proportiona...

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2nd International Conference on Computer Engineering and Applications

作者： Ardiyanto, Igi UGM Dept Elect Engn Yogyakarta Indonesia

ISBN: (纸本)9780769539829

This paper describes how state-adaptive PID (Proportional Integral Derivative) control can be applied to a low-cost mobile robot. behavior-based state-adaptive control for this mobile robot behaviors was designed using only three infrared sensors, a low-cost 8 bit microcontroller, and an electronic compass, with size of 22cm x 21cm x 16cm. The task oriented behavior-based approach is implemented as two tasks, wall following and goal seeking. Adaptive control used in this robot is PID algorithm using LMS (Least Mean Square) approach. Robot is given a map and run in an artificial corridor representing the map. The results demonstrate that each task works correctly and can run simultaneously. Experimental result shows that robot can run at maximum speed of 100 cm/s without any collision with the corridor. Robot can follow the wall, go to the goal, and avoid obstacles detected by the infrared sensors.

关键词： autonomous mobile robot indoor navigation behavior-based robotics adaptive control PID

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behavior activity trace method - Application to dead locks detection in a mobile robot navigation

Behavior activity trace method - Application to dead locks d...

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4th International Conference on Informatics in Control, Automation and robotics

作者： Skrzypczyk, Krzysztof Silesian Tech Univ Dept Automat Control PL-44100 Gliwice Poland

ISBN: (纸本)9789728865832

In the paper a novel approach to representation of a history in a mobile robot navigation is presented. The main assumptions and key definitions of the proposed approach are discussed in this paper. An application of the method to detection a dead end situations that may occur during the work of reactive navigation systems is presented. The potential field method is used to create an algorithm that gets the robot out of the dead-lock. Simulations that show the effectiveness of the proposed method are also presented.

关键词： mobile robot behavior-based robotics data representation navigation

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Genetic Evolution of Hierarchical behavior Structures 07

Genetic Evolution of Hierarchical Behavior Structures

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Annual Conference of Genetic and Evolutionary Computation Conference

作者： Woolley, Brian G. Peterson, Gilbert L. USAF Inst Technol Dept Elect & Comp Engn Wright Patterson AFB OH 45433 USA

ISBN: (纸本)9781595936974

The development of coherent and dynamic behaviors for mobile robots is an exceedingly complex endeavor ruled by task objectives, environmental dynamics and the interactions within the behavior structure. This paper discusses the use of genetic programming techniques and the unified behavior framework to develop effective control hierarchies using interchangeable behaviors and arbitration components. Given the number of possible variations provided by the framework, evolutionary programming is used to evolve the overall behavior design. Competitive evolution of the behavior population incrementally develops feasible Solutions for the domain through competitive ranking. By developing and implementing many simple behaviors independently and then evolving a complex behavior structure suited to the domain, this approach allows for the reuse of elemental behaviors and cases the complexity of development for a given domain. Additionally. this approach has the ability to locate a behavior structure which a developer may not have previously considered, and whose ability exceeds expectations. The evolution of the behavior structure is demonstrated using agents in the Robocode environment, with the evolved structures performing up to 122 percent better than one crafted by an expert.

关键词： Evolutionary robotics Genetic Programming behavior-based robotics Unified behavior Framework

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Using emergent modularity to develop control systems for mobile robots

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ADAPTIVE behavior 1997年第3-4期5卷 343-363页

作者： Nolfi, S CNR INST PSYCHOLVIALE MARX 15I-00187 ROMEITALY

A new way of building control systems, known as behavior-based robotics, has recently been proposed to overcome the difficulties of the traditional artificial intelligence approach to robotics. This new approach is based on she idea of providing the robot with a range of simple behaviors and letting the environment determine which behavior should have control at any given time. We will present a set of experiments in which neural networks with different architectures have been trained so control a mobile robot designed to keep an arena clear by picking up trash objects and releasing them outside the arena. Controller weights are selected using a form of genetic algorithm and do not change during the lifetime (i.e., no learning occurs). We will compare, in simulation and on a real robot, five different network architectures and will show that a network that allows for fine-grained modularity achieves significantly better performance. By comparing the functionality of each network module and ifs interaction with a description of the simple behavior components, we will show that it is not possible to find simple correlations;rather module switching and interaction are correlated with low-level sensorimotor mappings. This implies that the engineering-oriented approach to behavior-based robotics might have serious limitations because it is difficult to know in advance the appropriate mappings between behavior components and sensorimotor activity for complex tasks.

关键词： autonomous robots behavior-based robotics modularity neural networks genetic algorithms

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Quantitative Measure of Regular Languages for Supervisory Control of Engineering Applications

Quantitative Measure of Regular Languages for Supervisory Co...

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作者： Wang, Xi PennState University Libraries

学位级别：Doctor of Philosophy

This dissertation formulates a signed real measure of sublanguages of regular languages based on the principle of automata theory andreal analysis. The measure allows total ordering of any set of partially ordered sublanguages of a regular language for quantitative evaluation of the controlled behavior of deterministic finite state automata (DFSA) under differentsupervisors. The computational complexity of the language measure algorithm is polynomial in the number of DFSA states. An online parameter identification procedure is presented for computation of the language measure parameters.A discrete event behavior-based multi-robot system has been designed and constructed to validate the language measure theory and its applications to supervisory control in the discrete-event setting. Each robot is equipped with multiple sensors and multiple actuators. The interactions between the robot(s) and the (possibly) dynamically changing environment are characterized by discrete-event and continuous models, and the design and analysis of the robotic system are presented in both continuous-time and discrete event domains. The robustness and reliability of the controlled behavior is guaranteed in the continuous-time domain. For example, visual servoing is applied to robot navigation during `emph{approaching target}' and the vector field historgam (VFH) method is used for robust `emph{obstacle avoidance}'. The discrete event interactions between behaviors are formulated as a supervisory control theory problem, where multiple supervisors are synthesized and implemented online for robot control under different specifications. The efficacy of the language parameter identification procedure is demonstratedin real-time supervisory control through experiments on the mobile robotic system as well as on a high-fidelity robot simulator. A quantitative performance measure has been used toevaluate various discrete event supervisory (DES) controllers and is validated through experiments. The

关键词： coordinated robotics behavior-based robotics quantitative measure regular language discrete-event system supervisory control

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behavior-based Robot Navigation for Extended Domains

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Adaptive behavior 1992年第2期1卷 201-225页

作者： Arkin, Ronald C. Mobile Robot Laboratory College of Computing Georgia Institute of Technology Atlanta GA 30332-0280 United States

behavior-based robotic systems have been successfully deployed for a wide range of planar ground-based tasks. This article describes how reactive (behavior-based) systems can be applied to new and more difficult target domains. ln particular, schema-based navigation is shown to be both feasible and useful in two new areas: three-dimensional navigation for use in aerospace and undersea applications, and “two and one-half”-dimensional surroundings for outdoor navigation in rough terrain. Extensive simulation studies demonstrate the utility of this approach in both cases. © 1992, Sage Publications. All rights reserved.

关键词： behavior-based robotics reactive control robot navigation schema theory

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Extending the potential fields approach to avoid trapping situations

Extending the potential fields approach to avoid trapping si...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Antich, J Ortiz, A Univ Balearic Isl Dept Math & Comp Sci Palma de Mallorca 07122 Spain

ISBN: (纸本)0780389123

Reactive mobile robot navigation based on potential field methods has shown to be a good solution for dealing with unknown and dynamic environments, where timely responses are required. Unfortunately, the complexity of the tasks which can successfully be carried out is restricted by the inherent shortcomings of the approach such as trapping situations due to local minima, difficulties passing among closely spaced obstacles, oscillations in narrow corridors, etc... This paper proposes a novel strategy which overcomes totally the first limitation and partially the others by computing an adaptive navigation function on the basis of such artificial potential fields. As a result, navigation is achieved in very difficult scenarios such as maze-like environments. A comparative study on the path length performance of our proposal with regard to other algorithms from the related literature is also presented. Both simulation and real tests are performed.

关键词： behavior-based robotics reactive navigation artificial potential fields obstacle avoidance

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Flying Animal Inspired behavior-based Gap-Aiming Autonomous Flight with a Small Unmanned Rotorcraft in a Restricted Maneuverability Environment

Flying Animal Inspired Behavior-Based Gap-Aiming Autonomous ...

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作者： Sarmiento, Traci Ann Texas A&M University

学位级别：Ph.D.

This dissertation research shows a small unmanned rotorcraft system with onboard processing and a vision sensor can produce autonomous, collision-free flight in a restricted maneuverability environment with no a priori knowledge by using a gap-aiming behavior inspired by flying animals. Current approaches to autonomous flight with small unmanned aerial systems (SUAS) concentrate on detecting and explicitly avoiding obstacles. In contrast, biology indicates that birds, bats, and insects do the opposite; they react to open spaces, or gaps in the environment, with a gap_aiming behavior. Using flying animals as inspiration a behavior-based robotics approach is taken to implement and test their observed gap-aiming behavior in three dimensions. Because biological studies were unclear whether the flying animals were reacting to the largest gap perceived, the closest gap perceived, or all of the gaps three approaches for the perceptual schema were explored in simulation: detect_closest_gap, detect_largest_gap, and detect_all_gaps . The result of these simulations was used in a proof-of-concept implementation on a 3Drobotics Solo quadrotor platform in an environment designed to represent the navigational diffi- culties found inside a restricted maneuverability environment. The motor schema is implemented with an artificial potential field to produce the action of aiming to the center of the gap. Through two sets of field trials totaling fifteen flights conducted with a small unmanned quadrotor, the gap-aiming behavior observed in flying animals is shown to produce repeatable autonomous, collision-free flight in a restricted maneuverability environment. Additionally, using the distance from the starting location to perceived gaps, the horizontal and vertical distance traveled, and the distance from the center of the gap during traversal the implementation of the gap selection approach performs as intended, the three-dimensional movement produced by the motor schema and the ac

关键词： bio-inspired behavior-based robotics small unmanned aerial system disaster robotics Thesis

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