Proceedings ArticleDOI
Blending reactivity and goal-directedness in a fuzzy controller
Alessandro Saffiotti,Enrique H. Ruspini,Kurt Konolige +2 more
- pp 134-139
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A fuzzy controller for such a mobile robot that can take abstract goals into consideration is described that has been implemented in the SRI mobile robot Flakey, resulting in extremely smooth and reliable movement.Abstract:
Controlling the movement of an autonomous mobile robot requires the ability to pursue strategic goals in a highly reactive way. The authors describe a fuzzy controller for such a mobile robot that can take abstract goals into consideration. Through the use of fuzzy logic, reactive behavior, e.g., avoiding obstacles on the way, and goal-oriented behavior, e.g., trying to reach a given location, are smoothly blended into one sequence of control actions. The technique proposed has been implemented in the SRI mobile robot Flakey, resulting in extremely smooth and reliable movement. >read more
Citations
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Proceedings ArticleDOI
Most valuable player: a robot device server for distributed control
Brian P. Gerkey,Richard T. Vaughan,Kasper Stoy,Andrew Howard,Gaurav S. Sukhatme,Maja J. Matarić +5 more
TL;DR: Player combines an efficient message protocol with a simple device model that provides transparent network access to a collection of sensors and actuators, often comprising a robot, and is implemented as a multithreaded TCP socket server.
Journal ArticleDOI
The uses of fuzzy logic in autonomous robot navigation
TL;DR: This paper focuses on four issues: how to design robust behavior-producing modules; how to coordinate the activity of several such modules;How to use data from the sensors; and how to integrate high-level reasoning and low-level execution.
Proceedings Article
The paradoxical success of fuzzy logic
TL;DR: This work hopes to resolve paradoxes in fuzzy logic by identifying which aspects of fuzzy logic render it useful in practice, and which aspects are inessential.
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Moth-inspired chemical plume tracing on an autonomous underwater vehicle
TL;DR: This paper presents a behavior-based adaptive mission planner to trace a chemical plume to its source and reliably declare the source location and describes the methods and results from experiments conducted in November 2002, using a plume of Rhodamine dye developed in a turbulent fluid flow.
Journal ArticleDOI
The Saphira architecture: A design for autonomy
TL;DR: It is shown how the ability to attend to another agent, to take advice about the environment, and to carry out assigned tasks are integrated in the Saphira architecture using the concepts of coordination of behaviour, coherence of modelling, and communication with other agents.
References
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Journal ArticleDOI
Fuzzy sets as a basis for a theory of possibility
TL;DR: The theory of possibility described in this paper is related to the theory of fuzzy sets by defining the concept of a possibility distribution as a fuzzy restriction which acts as an elastic constraint on the values that may be assigned to a variable.
Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
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Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Proceedings Article
An investigation into reactive planning in complex domains
TL;DR: A model of purely reactive planning is proposed based on the concept of reactive action packages, which addresses the problems of execution monitoring and replanning in uncertain domains with a single, uniform representation and control structure.
Journal ArticleDOI
Fuzzy control of model car
Michio Sugeno,M. Nishida +1 more
TL;DR: Fuzzy control rules are derived by modelling an expert's driving actions by using a model car with a sensing unit and a micro-computer.