Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Fuzzy Petri nets for rule-based decisionmaking
IEEE Transactions on Systems, Man and Cybernetics
Artificial intelligence and mobile robots: case studies of successful robot systems
Artificial intelligence and mobile robots: case studies of successful robot systems
The spatial semantic hierarchy
Artificial Intelligence
An Behavior-based Robotics
Robot Motion Planning
Knowledge Representation Using Fuzzy Petri Nets
IEEE Transactions on Knowledge and Data Engineering
Errata: Comments on 'Knowledge Representation Using Fuzzy Petri Nets'
IEEE Transactions on Knowledge and Data Engineering
IWANN '01 Proceedings of the 6th International Work-Conference on Artificial and Natural Neural Networks: Bio-inspired Applications of Connectionism-Part II
Topological Modeling with Fuzzy Petri Nets for Autonomous Mobile Robots
IEA/AIE '98 Proceedings of the 11th International Conference on Industrial and Engineering Applications of Artificial In telligence and Expert Systems: Tasks and Methods in Applied Artificial Intelligence
Cognitive Modeling for Navigation of Mobile Robots Using the Sensory Gradient Concept
EUROCAST '97 Proceedings of the A Selection of Papers from the 6th International Workshop on Computer Aided Systems Theory
Constructing maps for mobile robot navigation based on ultrasonic range data
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A Recurrent Neural Network for Robotic Sensory-based Search
IWANN '03 Proceedings of the 7th International Work-Conference on Artificial and Natural Neural Networks: Part II: Artificial Neural Nets Problem Solving Methods
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This chapter describes a hybrid autonomous navigation system for mobile robots. The control architecture proposed is highly modular and is based on the concept of behavior, which is a generalization of the usual reactive interpretation of this term. The proposed navigation system involves a straightforward integration of reactive and deliberative modules, enabling global, model-based navigation and local, adaptive navigation. At the local navigation level, we introduce the concept of utilitarian navigation, which models low-level robot navigation as a functional optimization process. Thanks to this innovative perspective, we have been able to implement low-level tasks, like collision avoidance and sensory source search and evasion, which have been integrated into the hybrid navigation system. At the global navigation level, two fundamental problems are considered: (1) map or model building and (2) route planning. Fuzzy Petri nets (FPN) are used to construct topological maps. A minimum cost algorithm of the FPN propagation has been implemented for route planning and execution. This chapter also discusses the experimental work carried out with realistic simulations, as well as with a holonomic prototype built by the authors and a NOMAD-200 mobile platform.