Matrix-Based Discrete Event Control for Surveillance Mobile Robotics
Journal of Intelligent and Robotic Systems
Fuzzy discrete-event systems under fuzzy observability and a test algorithm
IEEE Transactions on Fuzzy Systems
IEEE Transactions on Fuzzy Systems
Diagnosability of fuzzy discrete-event systems: a fuzzy approach
IEEE Transactions on Fuzzy Systems
Multi-sensor surveillance of indoor environments by an autonomous mobile robot
International Journal of Intelligent Systems Technologies and Applications
Lyapunov Stability of Fuzzy Discrete Event Systems
ICIC '07 Proceedings of the 3rd International Conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence
Mobile robot behavior coordination using supervisory control of fuzzy discrete event systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A new algorithm for testing diagnosability of fuzzy discrete event systems
Information Sciences: an International Journal
From classic observability to a simple fuzzy observability for fuzzy discrete-event systems
Information Sciences: an International Journal
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This paper presents a novel behavior-modulation technique using a fuzzy discrete event system (FDES) for behavior-based robotic control. The method exploits the multivalued feature of fuzzy logic (FL) and event-driven property of a discrete event system (DES) to generate the activity of a behavior using fuzzy state vectors. State-based prediction of an activity is accomplished using fuzzily defined event matrices. A central arbiter employs priority-based arbitration among the activity state vectors and generates new event matrices to modify the activity states of the behaviors. The method combines aspects of both command fusion and behavior arbitration. Furthermore, the proposed approach has the ability to define state-based observability and controllability to handle sensory uncertainty and environmental dynamics. Observability describes decision vagueness associated with sensory data, whereas controllability specifies undesirable state-reach within the observed environment. Real-time results of FDES-based mobile robot navigation are presented and compared against four different modulation methods to validate its superior performance