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28,048
A Behavior-Based System For Off-Road Navigation
- IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
, 1994
"... In this paper, we describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the ..."
Abstract
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Cited by 80 (8 self)
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is taken, and on the use of a behavior-based architecture for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped
L-ALLIANCE: Task-Oriented Multi-Robot Learning In Behavior-Based Systems
- Advanced Robotics, Special Issue on Selected Papers from IROS'96
, 1997
"... A large application domain for multi-robot teams involves taskoriented missions, in which potentially heterogeneous robots must solve several distinct tasks. Previous research addressing this problem in multi-robot systems has largely focused on issues of efficiency, while ignoring the real-world si ..."
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Cited by 42 (3 self)
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-world situated robot needs of fault tolerance and adaptivity. This paper addresses this problem by developing an architecture called L-ALLIANCE that incorporates task-oriented action selection mechanisms into a behavior-based system, thus increasing the efficiency of robot team performance while maintaining
Utility Theoretic Planning in a Behavior-Based System
"... A new means of action selection via utility fusion is introduced as an alternative to both the bottlenecks of centralized systems and the incoherence of distributed systems. Within this framework, distributed behaviors indicate the utility of various possible world states and the uncertainty associa ..."
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A new means of action selection via utility fusion is introduced as an alternative to both the bottlenecks of centralized systems and the incoherence of distributed systems. Within this framework, distributed behaviors indicate the utility of various possible world states and the uncertainty
Utility Fusion: Map-Based Planning in a Behavior-Based System
- in Field and Service Robotics
"... * New address as of November 3, 1997: Dept. of Mechanical & Mechatronic Engineering University of Sydney, NSW 2006, Australia A new means of distributed action selection via utility fusion is introduced here as an alternative to both the bottlenecks of centralized systems and the incoherent ac ..."
Abstract
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Cited by 14 (4 self)
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utility. The centralized fusion of utilities from distributed decision-making processes thus provides the responsiveness and robustness of behavior-based systems without sacrificing the coherence and rationality of centralized architectures. 1 INTRODUCTION In domains such as mobile robot navigation
Architectural Mechanisms for Dynamically Modifiable Behavior Selection Strategies in Behavior-Based Systems
"... Behavior selection is typically a “built-in ” feature of agent architecture for behavior-based systems and hence not subject to change in instantiated architectures. There are, however, circumstances, where dynamic selection and adjustment of a behavior are desirable. In this paper, we present the c ..."
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Behavior selection is typically a “built-in ” feature of agent architecture for behavior-based systems and hence not subject to change in instantiated architectures. There are, however, circumstances, where dynamic selection and adjustment of a behavior are desirable. In this paper, we present
Tagged Behavior-Based Systems: Integrating Cognition with Embodied Activity
"... Classical artificial intelligence systems presuppose that all knowledge is stored in a central database of logical assertions or other symbolic representations and that reasoning consists largely of searching and sequentially updating that database. While this model has been very successful for dise ..."
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Cited by 8 (0 self)
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, limited representation of the world and task; requiring them to constantly synchronize with the central knowledge base is probably unrealistic. I will discuss an alternative class of architectures -- tagged behavior-based systems -- that support a large subset of the capabilities of classical AI
Architectural Mechanisms for Dynamic Changes of Behavior Selection Strategies in Behavior-Based Systems
"... Behavior selection is typically a “built-in” feature of behavior-based architectures and hence not amenable to change. There are, however, circumstances where changing behavior selection strategies is useful and can lead to better performance. In this paper, we demonstrate that such dynamic changes ..."
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Cited by 19 (9 self)
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Behavior selection is typically a “built-in” feature of behavior-based architectures and hence not amenable to change. There are, however, circumstances where changing behavior selection strategies is useful and can lead to better performance. In this paper, we demonstrate that such dynamic
Behavior Hierarchy Learning in a Behavior-based System using Reinforcement Learning
"... Abstract — Hand-design of an intelligent agent’s behaviors and their hierarchy is a very hard task. One of the most important steps toward creating intelligent agents is providing them with capability to learn the required behaviors and their architecture. Architecture learning in a behavior-based a ..."
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Abstract — Hand-design of an intelligent agent’s behaviors and their hierarchy is a very hard task. One of the most important steps toward creating intelligent agents is providing them with capability to learn the required behaviors and their architecture. Architecture learning in a behavior-based
Utility Fusion: Map-Based Planning in a Behavior-Based System
"... A new means of action selection via utility fusion is introduced here as an alternative to both the bottlenecks of centralized systems and the incoherence of distributed systems. Within the utility fusion framework, distributed, independent, asynchronous behaviors indicate the utility of various pos ..."
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A new means of action selection via utility fusion is introduced here as an alternative to both the bottlenecks of centralized systems and the incoherence of distributed systems. Within the utility fusion framework, distributed, independent, asynchronous behaviors indicate the utility of various
Adaptive Robotics A behavior-based system for control of mobile robots
, 2010
"... Robots are commonplace in society; they perform all sorts of jobs. However, most are hard-wired to perform a few fixed tasks and have little or no ability to adapt to changing or unforseen circumstances. Artificial Intelligence (AI) enters the picture when robots must be capable of autonomous behavi ..."
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behavior in unpredictable environments. In this project, the student must utilize AI machine-learning techniques to produce a robot with adaptive capabilities. Possible techniques include reinforcement learning (RL), artificial neural networks (ANNs), evolutionary algorithms (EAs), or combinations of these
Results 1 - 10
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28,048
