检索结果-内蒙古大学图书馆

An architecture to coordinate fuzzy behaviors to control an autonomous robot

FUZZY SETS AND SYSTEMS 2003年第1期134卷 101-115页

作者： Bonarini, A Invernizzi, G Labella, TH Matteucci, M Politecn Milan AI Dipartimento Elettron & Informaz I-20133 Milan Italy Politecn Milan Robot Project I-20133 Milan Italy

We propose an architecture to implement coordination among fuzzy behavior modules for autonomous agents, in real-time tasks. behavior coordination is obtained by fuzzy conditions and motivations evaluated on information provided by intelligent sensors and a world modeler. We also discuss the compatibility of our architecture with cognitive models. We present the application of this architecture in one of the domains we have faced with it: service and edutainment robotics. (C) 2002 Elsevier Science B.V. All rights reserved.

关键词： behavior-based robotics cognitive robotics fuzzy systems robotic architecture agent architecture

来源：评论

学校读者我要写书评

暂无评论

Ecological robotics

引用

ADAPTIVE behavior 1998年第3-4期6卷 473-507页

作者： Duchon, AP Warren, WH Kaelbling, LP Brown Univ Dept Cognit & Linguist Sci Providence RI 02912 USA Brown Univ Dept Comp Sci Providence RI 02912 USA

There are striking parallels between ecological psychology and the new trends in robotics and computer vision, particularly regarding how agents interact with the environment. We present some ideas from ecological psychology, including control laws using optic flow, affordances, and action modes, and describe our implementation of these concepts in two mobile robots that can avoid obstacles and chase or flee moving targets solely by using optic flow. The properties of these methods were explored further in simulation. This work ties in with that of others who argue for a methodological approach in robotics that forgoes a central model or planner. Not only might ecological psychology contribute to robotics, but robotic implementations might, in turn, provide a test bed for ecological principles and a source of ideas that could be tested in animals and humans.

关键词： ecological psychology behavior-based robotics optic flow obstacle avoidance tag

来源：评论

学校读者我要写书评

暂无评论

behavior-grounded representation of tool affordances

Behavior-grounded representation of tool affordances

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Stoytchev, A Georgia Inst Technol Mobile Robot Lab Atlanta GA 30332 USA

ISBN: (纸本)078038914X

This paper introduces a novel approach to representing and learning tool affordances by a robot. The tool representation described here uses a behavior-based approach to ground the tool affordances in the behavioral repertoire of the robot. The representation is learned during a behavioral babbling stage in which the robot randomly chooses different exploratory behaviors, applies them to the tool, and observes their effects on environmental objects. The paper shows how the autonomously learned affordance representation can be used to solve tool-using tasks by dynamically sequencing the exploratory behaviors based on their expected outcomes. The quality of the learned representation was tested on extension-of-reach tool-using tasks.

关键词： behavior-based robotics tool affordances learning of affordances autonomous tool use

来源：评论

学校读者我要写书评

暂无评论

Tartalo: the door knocker robot

Tartalo: the door knocker robot

引用

IEEE International Conference on robotics and Biomimetics (ROBIO 2007)

作者： Jauregi, E. Martinez-Otzeta, J. M. Sierra, B. Lazkano, E. Univ Basque Country Robot & Autonomous Syst Grp Donosita Spain Univ Basque Country Comp Sci & Artificial Intelligence Donosita Spain

ISBN: (纸本)9781424417612

Bioinspired navigation strategies require landmark identification subsystems for goal identification. Door recognition is a key problem to be solved during mobile robot navigation. Doors give access to many locations that are defined as goals for the robot. This paper presents an approach to door identification by means of recognition of the door handle. Rather than using the fines defined by the door blades, the region of interest of an image is extracted by means of the Hough transform and afterwards SIFT keypoints are obtained and matched against a database in order to positively recognize the door. The extraction of the ROI highly reduces the computational load of the SIFT algorithm and increases the handle recognition performance. The approach is evaluated and tested on a real Peoplebot robot, using a behavior-based control architecture that combines the identification module with free-space balancing (for corridor following), door knocking and crossing behaviors.

关键词： scale invariant feature transform behavior-based robotics

来源：评论

学校读者我要写书评

暂无评论

Spatio-temporal case-based reasoning for behavioral selection

Spatio-temporal case-based reasoning for behavioral selectio...

引用

IEEE International Conference on robotics and Automation

作者： Likhachev, M Arkin, RC Georgia Inst Technol Coll Comp Mobile Robot Lab Atlanta GA 30332 USA

ISBN: (纸本)0780365763

This paper presents the application of a Case-based Reasoning approach to the selection and modification of behavioral assemblage parameters. The goal of this research is to achieve an optimal parameterization of robotic behaviors in run-time. This increases robot performance and makes a manual configuration of parameters unnecessary. The case-based reasoning module selects a set of parameters for an active behavioral assemblage in real-time. This set of parameters fits the environment better than hand-coded ones, and its performance is monitored providing feedback,for a possible reselection of the parameters. This paper places a significant emphasis on the technical details of the case-based reasoning module and how it is integrated within a schema-based reactive navigation system. The paper also presents the results and evaluation of the system in both in simulation and real world robotic experiments.

关键词： case-based reasoning behavior-based robotics reactive robotics

来源：评论

学校读者我要写书评

暂无评论

Modular behaviors in heterogeneous groups of mobile robots

Modular behaviors in heterogeneous groups of mobile robots

引用

Conference on Sensor Fusion and Decentralized Control in Robotic Systems III

作者： Dedeoglu, G Sukhatme, GS Univ So Calif Dept Comp Sci Robot Res Lab Los Angeles CA 90089 USA

ISBN: (纸本)0819438618

We provide an overview of the software components underlying four different tasks performed by a heterogeneous group of mobile robots. These tasks are are drawn from three domains 1. Robot Competitions (Robot Soccer and 'Find Life on Mars'), 2. Security and Surveillance (Perimeter Protection) and 3. Building Environmental Models (Multi-Robot Navigation and Mapping). Once decomposed as a set of cooperating behaviors, we show how these (seemingly unrelated) tasks lead to similar solutions as far as their modular breakdown is concerned, thereby yielding high reusability. Although our collection of robot platforms is notably diverse in terms of mechanics, sensory and computational capabilities, cross-platform migration and extension of existing behavior assemblages require minimal programming effort.

关键词： behavior-based robotics robot programming mobile robots autonomous robots modular behaviors

来源：评论

学校读者我要写书评

暂无评论

Anticipatory Brain Potentials in a Brain-Robot Interface Paradigm

Anticipatory Brain Potentials in a Brain-Robot Interface Par...

引用

4th International IEEE/EMBS Conference on Neural Engineering

作者： Bozinovski, Adrijan Bozinovska, Liljana Univ Amer Coll Skopje Dept Comp & Informat Sci Skopje Macedonia South Carolina State Univ Dept Biol & Phys Sci Orangeburg SC USA

ISBN: (纸本)9781424420728

The paper describes a Brain-Robot Interface paradigm in which recognition of an anticipatory brain potential (in this case the Contingent Negative Variation - CNV) is acknowledged and reacted to by a robot arm movement. The well-known task of Towers of Hanoi is executed by a robotic arm. A measure of success is the subject's ability to generate series of CNV potentials in a CNV flip-flop paradigm which progresses towards the completion of the Towers of Hanoi task.

关键词： brain potentials taxonomy anticipatory brain potentials CNV flip-flop paradigm brain-robot interface behavior-based robotics lowers of Hanoi

来源：评论

学校读者我要写书评

暂无评论

An Analysis of Displays for Probabilistic Robotic Mission Verification Results

An Analysis of Displays for Probabilistic Robotic Mission Ve...

引用

7th International Conference on Applied Human Factors and Ergonomics / International Conference on Human Factors in Robots and Unmanned Systems

作者： O'Brien, Matthew Arkin, Ronald Georgia Tech Sch Interact Comp Atlanta GA 30332 USA

ISBN: (纸本)9783319419596;9783319419589

An approach for the verification of autonomous behavior-based robotic missions has been developed in a collaborative effort between Fordham University and Georgia Tech. This paper addresses the step after verification, how to present this information to users. The verification of robotic missions is inherently probabilistic, opening the possibility of misinterpretation by operators. A human study was performed to test three different displays (numeric, graphic, and symbolic) for summarizing the verification results. The displays varied by format and specificity. Participants made decisions about high-risk robotic missions using a prototype interface. Consistent with previous work, the type of display had no effect. The displays did not reduce the time participants took compared to a control group with no summary, but did improve the accuracy of their decisions. Participants showed a strong preference for more specific data, heavily using the full verification results. based on these results, a different display paradigm is suggested.

关键词： Display of uncertainty Decision support system Formal verification behavior-based robotics

来源：评论

学校读者我要写书评

暂无评论

Robotic comfort zones

Robotic comfort zones

引用

Conference on Sensor Fusion and Decentralized Control in Robotic Systems III

作者： Likhachev, M Arkin, RC Georgia Inst Technol Coll Comp Mobile Robot Lab Atlanta GA 30332 USA

ISBN: (纸本)0819438618

This paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain. Focus is placed on the identification of the salient features in the environment that affect the comfort level. Factors involved include current state familiarity, working conditions, the amount and location of available resources, etc. As part of our newly developed comfort function theory, the notion of an object as a psychological attachment for a robot is also introduced, as espoused in Bowlby's theory of attachment. The output space of the comfort function and its dependency on the comfort level are analyzed. The results of the derivation of this comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function in the domain of robotics is presented with relevance for real-world operations. Also, a transformation of the theoretical discussion into a mathematical framework suitable for implementation within a behavior-based control system is presented. The paper concludes with results of simulation studies and real robot experiments using the derived comfort function.

关键词： comfort zones comfort function attachment theory discrepancy theory behavior-based robotics

来源：评论

学校读者我要写书评

暂无评论

An architecture to coordinate fuzzy behaviors to control an autonomous robot

An architecture to coordinate fuzzy behaviors to control an ...

引用

4th International FLINS Conference on Intelligent Techniques and Soft Computing in Nuclear Science and Engineering

作者： Bonarini, A Invernizzi, G Labella, TH Matteucci, M Politecn Milan AI Dipartimento Elettron & Informaz I-20133 Milan Italy Politecn Milan Robot Project I-20133 Milan Italy

关键词： behavior-based robotics cognitive robotics fuzzy systems robotic architecture agent architecture

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：