A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Fuzzy qualitative trigonometry
International Journal of Approximate Reasoning
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IEEE Transactions on Intelligent Transportation Systems
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ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus
Journal of Intelligent and Robotic Systems
Reasoning with qualitative velocity: towards a hybrid approach
HAIS'12 Proceedings of the 7th international conference on Hybrid Artificial Intelligent Systems - Volume Part I
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International Journal of Automation and Computing
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We propose a fuzzy qualitative (FQ) version of robot kinematics with the goal of bridging the gap between symbolic or qualitative functions and numerical sensing and control tasks for intelligent robotics. First, we revisit FQ trigonometry, and then derive its derivative extension. Next, we replace the trigonometry role in robot kinematics using FQ trigonometry and the proposed derivative extension, which leads to a FQ version of robot kinematics. FQ transformation, position, and velocity of a serial kinematics robot are derived and discussed. Finally, we propose an aggregation operator to extract robot behaviors with the highlight of the impact of the proposed methods to intelligent robotics. The proposed methods have been integrated into XTRIG MATLAB toolbox and a case study on a PUMA robot has been implemented to demonstrate their effectiveness.