J. Yen and N. Pfluger. A fuzzy logic based extension to payton and rosenblatt's command fusion method for mobile robot navigation. IEEE Transactions on Systems, Man and Cybernetics, 25(6):971--978, 1995.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....for fusion: Voting techniques interpret the output of each behavior as votes for or against possible actions and the action with the maximum weighted sum of votes is selected. CAMPOUT implements a DAMN style [8] voting algorithm based on BISMARC [9] Fuzzy command fusion mechanisms (see [10 11]) use fuzzy logic and inference to formalize the action selection processes. In addition, fuzzy approaches enable a new class of coordination mechanisms denoted context dependent blending, introduced to robotics by Saffiotti, Ruspini, and Konolige in [10] which allow for weighted combination of ....

J. Yen and N. Pfluger, "A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation," IEEE Transactions on Systems, Man, and Cybernetics, vol. 25, no. 6, pp. 971 -- 978, June 1995.

....[10] cooperative action selection requires mechanisms that achieve some sort of behavior (or command) fusion , integrating information from different sources to obtain the current action. Examples are voting mechanisms [12, 11] superposition techniques [1] fuzzy command fusion mechanisms [17], or multiple objective behavior coordination methods [15] Competitive mechanisms, on the other hand, require the selection of an action based on the result of some competition process among different components, possibly followed by the arbitration of the current behavior (if an action ....

J. Yen and N. Pfluger. A fuzzy logic based extension to payton and rosenblatt's command fusion method for mobile robot navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971--978, June 1995.

....of night vision. In the event that sensors such as LIDAR are available, this weighting can be relaxed to allow movement at night. Determination of the optimal set of weights for completion of any task is not mathematically well defined, although recent studies by Pirjanian [19] Yen and Pfluger [25], and Steinhage and Schner [23] have defined functional definitions of the system dynamics to address this point. Combination of the weighted links is done in three ways: additive, multiplicative, or through a weighted summation process suggested by Tyrrell [24] At the bottom level of the ASM ....

J. Yen & N. Pfluger, "A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation", IEEE Transactions on Systems, Man, and

....for a time out distance of 2m. Our simulator assumes sonar values are repeatable and motor actions are invertible. In addition, the simulated robot is given a capability to access global information such as its position. Figure 1. TRC robot The architecture of the bias component is similar to [15] and is shown in figure 2. It consists of two purposive fuzzy behaviors: obstacle avoidance and goal following. As the purpose of the bias component is to deliver a rough estimate of the optimal action, it suffices to have few fuzzy rules and coarse input output granulation levels. To come up ....

John Yen and Nathan Pfluger. A fuzzy logic based extension to payton and rosenblatt's command fusion method for mobile robot navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971--977, 1995. 7

....to reduce the complexity of the interactions or, at least provide methods for allowing developers to handle the complexity better. The methods either organize behaviors di erently, e.g. Parker, 1998, Blumberg and Galyean, 1995 ] or combine the outputs of the behaviors in a di erent way, e.g. Yen and P uger, 1995, Pirjanin, 1998, Riekki, 1998, Rosenblatt, 1997 ] With the EASE actor architecture we are taking this trend one step further. A behavior in a behavior based system is an agent in EASE. By elevating behaviors to the status of agents the interactions between behaviors simplify in the same way ....

John Yen and Nathan P uger. A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation. IEEE Transactions on Systems, Man and Cybernetics, 25(6), 1995.

....of physical objects whereas behavior based systems usually operate on raw sensory information with limited processing. How to close the gap between planning and behavior based system components is thus an important issue, which has received a considerable amount of attention in the literature [4, 21 25]. Some of the work in hybrid systems deals with integrating planning and reactive behavior based system components. Others, do not exactly integrate the two components, rather they devise new approaches which combine the best of the planning and the behavior based schools. Another direction ....

.... structure, building a proper representation of the world, having efficient tools to abstract, search, modify and manipulate that representation A common belief in the robotics field is that robots need to represent and reason about information at different levels of abstraction at the same time [4,5]. There are several reasons for this. First: different tasks call for different types of representation. For example, global navigation strategies are more easily planned using a topological map, where we can decide the sequence of rooms and corridors to be traversed; but fine motion control needs ....

J. Yen, and N. Peluger, "A Fuzzy Logic Based Extension to Payton and Rosenblat's Command Fusion Method for Mobile Robot Navigation", IEEE Trans. on Systems, Man and Cybernetics, Vol. 25, No. 6, pp. 971-978, 1995.

....specific situations and systems. 1 follow target 90 90 o o 1 avoid collisions heading Figure 2: Conflict between behavior outputs. Defuzzification can also produce inappropriate results since it selects an action that does not have support from any of the behaviors. This is demonstrated in [13] by the example in Figure 3. Yen and Pfluger propose Centroid of Largest Area (CLA) defuzzification to avoid problems with multi modal outputs. However, it is easy to construct an example where CLA defuzzification can produce undesirable results. In summary, due to the unclear semantics and ....

....into the framework of fuzzy behavior coordination and can easily replace standard fuzzy inferencing and defuzzification techniques. 90 90 6 42 2 1 1) Center of Area for the Entire Fuzzy Set 2) Centroid of the Largest Area Turning Direction Figure 3: Examples of defuzzification techniques [13]. 3 Multiple objective behavior coordination Multiple objective behavior coordination is based on multiple objective decision theory [3] Since multiple objective decision theory has many concepts that have synonymous counterparts in fuzzy logic, we only introduce aspects of the theory that ....

John Yen and Nathan Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971 -- 978, June 1995.

.... of fuzzy command fusion was presented in the literature, in a naive form, by two roboticists who were unaware of fuzzy logic, but were frustrated by the pitfalls of the existing on off arbitration schemas [21] This proposal has been later re stated in terms of fuzzy logic by Yen and Pfluger [32] and Baxter and Bumby [2] Following Ruspini [22] we define fuzzy command fusion as follows. We interpret each behavior producing unit as an agent expressing preferences as to which command to apply; degrees of preference are represented by a possibility distribution (or fuzzy set) over the ....

....and Pin and Watanabe [18] use symmetric rectangles and COG. Both methods can be shown to be equivalent to a vector summation scheme. The majority of authors, however, have opted for a full fledged form of fuzzy fusion: combination of arbitrary fuzzy sets followed by a defuzzification step [32, 2, 25, 30, 16, 28, 15, 29]. 2 A similar distinction is commonly made in the field of data fusion, especially when fuzzy techniques are considered [6] Many a proposer of fuzzy command fusion have considered the problems that can arise from blindly applying COG or MOM defuzzification to the combined fuzzy set. In ....

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J. Yen and N. Pfluger. A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation. IEEE Trans. on Systems, Man, and Cybernetics, 25(6):971--978, 1995.

....infrared based robot; and by Li [66] who used a simulated sonar based robot. It was also used by Altrok et al. 125] on a model car for following a wall bounded race track while compensating for the skidding and sliding due to the high speed. The second approach has been used by Yen and Pfluger [131] and by Baxter and Bumby [7] for integrating path tracking and obstacle avoidance (unfortunately, only tested in simulation) and by Maeda et al. 70] for integrating vision based wall following and obstacle avoidance on a Hero 2000 robot. The last work is peculiar in that the authors use ....

.... Curiously enough, the first such proposal was made, in a naive form, by two roboticists who were unaware of fuzzy logic but were frustrated by the pitfalls of the existing on off arbitration schemas [98] Their suggestion has been later restated in terms of fuzzy logic by Yen and Pfluger [131] and Baxter and Bumby [7] Other authors have proposed trivialized forms of fuzzy command fusion. For instance, Goodridge et al. 44] use weighted singletons as fuzzy outputs and COG defuzzification; and Pin and Watanabe 14 [92] use symmetric rectangles and COG. Both methods can be shown to be ....

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J. Yen and N. Pfluger. A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation. IEEE Trans. on Systems, Man, and Cybernetics, 25(6):971--978, 1995.

.... [25] a similar approach called SAMBA [24] and the Action Voting approach [8] Superposition techniques, which combine behavior recommendations using linear combinations, include potential fields [10] motor schemas [2] and the dynamic systems approach [14] Fuzzy command fusion mechanisms (see [28, 31, 30]) have several contact points with voting techniques, but notions of fuzzy logic and inferencing are used to formalize the action selection processes. In addition, fuzzy approaches enable a new class of coordination mechanisms denoted context dependent blending, introduced to robotics by ....

....to guide, not control, lower level behaviors. Even though Payton and Rosenblatt s work was not done in a fuzzy framework, these results are relevant because the behavior semantics are equivalent to fuzzy behaviors. Furthermore, their work was extend into a fuzzy logic approach by Yen and Pfluger [31]. Behaviors that compete for the control of the robot must be coordinated to resolve potential conflicts. Fuzzy behavior coordination is performed by combining the fuzzy outputs of behaviors using an appropriate operator such as a triangular conorm (which corresponds to the fuzzy set union) ....

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John Yen and Nathan Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971--978, June 1995.

....are synthe24 sized by a set of fuzzy IF THEN rules and the activation level of each behavior is determined by another layer of rules. 10.2 Fuzzy DAMN [Yen Pfluger 95] Inspired by the work of Payton and Rosenblatt [44] but not satisfied with the implicit heuristic treatment of their ideas, [70] propose a fuzzy logic formulation of the command fusion approach. The ideas presented by Yen and Pfluger were already put forward in [57] without a direct link to Payton and Rosenblatt s approach. Yen and Pfluger make this link explicit. Yen and Pfluger realize that certain fundamental issues in ....

.... Behavior A Fuzzy rules for Fuzzy Conclusion from C Fuzzy Conclusion from B Fuzzy Conclusion from A Robot Sensor Status Data Information Path Defuzzification Command Fusion and Control Commands Crisp Inference Inference Fuzzy Fuzzy Figure 15: The DAMN architecture based on fuzzy logic, adapted from [70]. The fuzzy logic formulation of Payton and Rosenblatt s approach introduces useful guidelines in design of behavior based control systems. However, command fusion and action selection using standard fuzzy inferencing and defuzzification techniques respectively can have certain disadvantages as ....

[Article contains additional citation context not shown here]

John Yen and Nathan Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971 -- 978, June 1995.

....for an autonomous vehicle. Autonomous vehicle navigation is a well known problem in the literature, but many challenges still remain. For recent papers see (Wang et.al. 1991; Verschure et.a. 1992; Fan Lui 1994; Spence Hutchinson, 1995; Krozel Andrisani II 1995; Beom Cho, 1995; Rao, 1995; Yen Pfluger, 1995). Briefly, the problem is as follows . An autonomous vehicle must navigate in an unknown environment, with obstacles and targets. The question is on how to control the vehicle to avoid obstacles and to reach the targets. The different approaches to tackle this problem may be classified in three ....

....two basic behaviors: obstacle avoidance and target seeking. In this case, from sensor data, a control action is found via fusion of both behaviors. This is different than Brook s approach, where there was not a combination of multiple behaviors, but a selection of one of them. Examples include (Yen Pfluger, 1995; Beom Cho, 1995) The basic behaviors can be either pre programmed, or be learned from the interaction between the vehicle and the environment. Examples addressing learning can be found in (Verschure et.al. 1991; Oliveira et.al. 1994; Fabro 1996) 17 The third approach for navigation problems ....

- "A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation", IEEE Transactions on Systems, Man and Cybernetics, vol. 25, n. 6, June, 1995.

....stand out however: the Mean Of Maxima (MOM) and the Centre Of Area (COA) MOM considers all the points whose membership degree is maximum and selects the mean of these points. COA picks up the center of area of the final fuzzy set. Another interesting defuzzification method is proposed in [29], the Centroid of Largest Area (CLA) Instead of considering the union of the fuzzy sets for a given command variable, it takes the largest one and applies COA to this set. MOM and COA consider the union of the fuzzy sets corresponding to a given command variable. By doing so, they merge the fuzzy ....

J. Yen and N. Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971--978, June 1995.

.... first proposal of fuzzy command fusion was presented in the literature, in a naive form, by two roboticists who were unaware of fuzzy logic but who were frustrated by the pitfalls of the existing on off arbitration schemas [19] This proposal has been later re stated in terms of fuzzy logic [8]. More generally, fuzzy command fusion can be given a formal setting based on the view of fuzzy logic as a logic of graded preferences [20] Accordingly, we can see each behavior producing unit as an agent expressing preferences as to which command to apply, and then use fuzzy operators to ....

....7; 8; 10] use fuzzy rules to implement robust motion control strategies. Generally, each control strategy is encapsulated into a behavior that takes care of one specific concern. For example, Tunstel [7] defines fuzzy behaviors of avoid collision, wall follow, go to xy, etc. And Yen and Pfluger [8] define fuzzy obstacle avoidance and path following behaviors. Ollero et al. 10] also use fuzzy logic to implement a path tracking controller that follows a given path using the readings from the wheel encoders this controller does not implement a behavior in the usual sense, as it does not ....

[Article contains additional citation context not shown here]

J. Yen and N. Pfluger. A fuzzy logic based extension to payton and rosenblatt's command fusion method for mobile robot navigation. This session.

....of mathematical or logical models. Fuzzy control (FC) provides a flexible tool to model the relationship among input information and control output. For some years FLCs are used for a variety of complex control problems [BONI96] MAR94] including the control of mobile robots [BEO95] SAF97] SUR95][YEN95]. They are distinguished by their robustness with respect to noise and variations of system parameters. GAs are optimization methods guided by the principles of natural evolution, which they simulate in a computer environment [GOL89a] HOL92] They imitate the underlying genetic processes of ....

John Yen, Nathan Pfluger, "A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation" IEEE Transactions on Systems, Man and Cybernetic, vol. 25, no. 6, pp. 971-978, (1995).

....called SAMBA[13] extends and generalizes the work done by Payton and Rosenblatt. Finally there is the action voting approach[6] which is based on neural networks and it facilitates an adaptive estimation of each behavior s contribution to the final result. Fuzzy command fusion mechanisms (see [15,19,18]) are very similar to voting techniques, however, fuzzy inferencing 1 Also known as life like characters used in virtual reality systems. techniques are used to formalize the voting approach. The work done by Yen et al. 19] builds directly upon Payton and Rosenblatt s work by formulating the ....

....to the final result. Fuzzy command fusion mechanisms (see [15,19,18] are very similar to voting techniques, however, fuzzy inferencing 1 Also known as life like characters used in virtual reality systems. techniques are used to formalize the voting approach. The work done by Yen et al.[19] builds directly upon Payton and Rosenblatt s work by formulating the Payton Rosenblatt approach in terms of fuzzy logic. Superposition techniques, which combine behavior recommendations using linear combinations, include the potential fields[7] motor schemas[1] and the dynamic systems ....

John Yen and Nathan Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971 -- 978, June 1995.

....stand out however: the Mean Of Maxima (MOM) and the Center Of Area (COA) MOM considers all the points whose membership degree is maximum and selects the mean of these points. COA picks up the center of area of the final fuzzy set. Another interesting defuzzification method is proposed in [17], the Centroid of Largest Area (CLA) Instead of considering the union of the fuzzy subsets for a given command variable, it takes the largest one and applies COA to this subset. A short analysis of these different methods is made in the next section. 3.2 The Characteristic Features of EM As ....

John Yen and Nathan Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971--978, June 1995.

....the robot to go straight on and this control value is not preferred by some behaviors and could lead the robot into dangerous situations. The fact that the defuzzification may result in the selection of an undesirable control value, has already been addressed in the literature in this field. In [20] the authors define a new defuzzification method to solve a similar problem, others [18] put the responsibility on the behavior designer to make sure that rules with conflicting consequents have disjointed antecedents, and others [8] allow the control system to fail safely and recover from the ....

J. Yen and N. Pfluger. A fuzzy logic based extension to payton and rosenblatt's command fusion method for mobile robot navigation. IEEE Transactions on Systems, Man and Cybernetics, 25(6):971--978, 1995.

....as votes for or against possible actions and the action with the maximum weighted sum of votes is selected. The voting command fusion mechanisms include the DAMN architecture [14] a similar approach called SAMBA [13] and the action voting approach [6] Fuzzy command fusion mechanisms (see [15, 18, 17]) are very similar to voting techniques, however, fuzzy inferencing techniques are used to formalize the voting approach. Superposition techniques, which combine behavior recommendations using linear combinations, include the potential fields [8] motor schemas [1] and Email: ....

John Yen and Nathan Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971 -- 978, June 1995. This article was processed using the T E X macro package with SIRS98 style

....stand out however: the Mean Of Maxima (MOM) and the Centre Of Area (COA) MOM considers all the points whose membership degree is maximum and selects the mean of these points. COA picks up the center of area of the final fuzzy set. Another interesting defuzzification method is proposed in [29], the Centroid of Largest Area (CLA) Instead of considering the union of the fuzzy sets for a given command variable, it takes the largest one and applies COA to this set. MOM and COA consider the union of the fuzzy sets corresponding to a given command variable. By doing so, they merge the fuzzy ....

J. Yen and N. Pfluger. A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation. IEEE Transactions on Systems, Man, and Cybernetics, 25(6):971--978, June 1995.

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J. Yen and N. Pfluger. A fuzzy logic based extension to payton and rosenblatt's command fusion method for mobile robot navigation. IEEE Transactions on Systems, Man and Cybernetics, 25(6):971--978, 1995.

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Yen J. and Pfluger, N. (1995) A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation. IEEE Trans. on Systems, Man, and Cybernetics, 25, 6, 971--978

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J. Yen and N. Pfluger. A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation. IEEE Trans. on Systems, Man, and Cybernetics, 25(6):971--978, 1995. Saffiotti

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Yen, J., Pfluger, N., "A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation." IEEE Transactions on Systems, Man and Cybernetics, Vol. 25, No. 6, pp. 971-978, June 1995.

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J. Yen and N. Pfluger, "A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation," IEEE Trans on Systems, Man, & Cybernetics, 25(6), 971-978, 1995.

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