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Behavior-Based Robotics

22 May 1998-
TL;DR: Whence behaviour? animal behaviour robot behaviour behaviour based architectures representational issues for behavioural systems hybrid deliberative/rective architectures perceptual basis for behaviour-based control adaptive behaviour social behaviour fringe robotics - beyond behaviour.
Abstract: Whence behaviour? animal behaviour robot behaviour behaviour-based architectures representational issues for behavioural systems hybrid deliberative/rective architectures perceptual basis for behaviour-based control adaptive behaviour social behaviour fringe robotics - beyond behaviour.
Citations
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Journal ArticleDOI
07 Aug 2002
TL;DR: In this paper, the authors describe decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks, which are based on a gradient descent scheme applied to a class of decentralized utility functions that encode optimal coverage and sensing policies.
Abstract: This paper describes decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks. The control laws are based on a gradient descent scheme applied to a class of decentralized utility functions that encode optimal coverage and sensing policies. These utility functions are studied in geographical optimization problems and they arise naturally in vector quantization and in sensor allocation tasks. The approach exploits the computational geometry of spatial structures such as Voronoi diagrams.

2,445 citations

Posted Content
TL;DR: This paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies which are adaptive, distributed, asynchronous, and verifiably correct.
Abstract: This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

2,198 citations

Book
25 Jan 2008
TL;DR: The goal of this review is to present a unified treatment of HRI-related problems, to identify key themes, and discuss challenge problems that are likely to shape the field in the near future.
Abstract: Human-Robot Interaction (HRI) has recently received considerable attention in the academic community, in labs, in technology companies, and through the media. Because of this attention, it is desirable to present a survey of HRI to serve as a tutorial to people outside the field and to promote discussion of a unified vision of HRI within the field. The goal of this review is to present a unified treatment of HRI-related problems, to identify key themes, and discuss challenge problems that are likely to shape the field in the near future. Although the review follows a survey structure, the goal of presenting a coherent "story" of HRI means that there are necessarily some well-written, intriguing, and influential papers that are not referenced. Instead of trying to survey every paper, we describe the HRI story from multiple perspectives with an eye toward identifying themes that cross applications. The survey attempts to include papers that represent a fair cross section of the universities, government efforts, industry labs, and countries that contribute to HRI, and a cross section of the disciplines that contribute to the field, such as human, factors, robotics, cognitive psychology, and design.

1,602 citations

Proceedings ArticleDOI
Yoshiaki Sakagami1, R. Watanabe1, C. Aoyama1, Shinichi Matsunaga1, Nobuo Higaki1, Kikuo Fujimura1 
10 Dec 2002
TL;DR: The structure of the robot system for intelligence, integrated subsystems on its body, and their new functions, and the behavior-based planning architecture on ASIMO and its vision and auditory system are explained.
Abstract: We present the system overview and integration of the ASIMO autonomous robot that can function successfully in indoor environments. The first model of ASIMO is already being leased to companies for receptionist work. In this paper, we describe the new capabilities that we have added to ASIMO. We explain the structure of the robot system for intelligence, integrated subsystems on its body, and their new functions. We describe the behavior-based planning architecture on ASIMO and its vision and auditory system. We describe its gesture recognition system, human interaction and task performance. We also discuss the external online database system that can be accessed using internet to retrieve desired information, the management system for receptionist work, and various function demonstrations.

1,434 citations

BookDOI
26 Jul 2009
TL;DR: This self-contained introduction to the distributed control of robotic networks offers a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation.
Abstract: This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms.Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises.Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation

1,166 citations