Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Truth as utility: a conceptual synthesis
Proceedings of the seventh conference (1991) on Uncertainty in artificial intelligence
Artificial Intelligence
A multivalued logic approach to integrating planning and control
Artificial Intelligence - Special volume on planning and scheduling
An Behavior-based Robotics
Fuzzy Logic Techniques for Autonomous Vehicle Navigation
Fuzzy Logic Techniques for Autonomous Vehicle Navigation
Responses to Elkan (Hamid R. Berenji)
IEEE Expert: Intelligent Systems and Their Applications
Using the Electric Field Approach in the RoboCup Domain
RoboCup 2001: Robot Soccer World Cup V
UAI '90 Proceedings of the Sixth Annual Conference on Uncertainty in Artificial Intelligence
LICS '96 Proceedings of the 11th Annual IEEE Symposium on Logic in Computer Science
Using priorities to simplify behavior coordination
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
Extending adaptive fuzzy behavior hierarchies to multiple levels of composite behaviors
Robotics and Autonomous Systems
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An important reason for the popularity of the behavior-based paradigm in autonomous robotics is the possibility to design complex robot behaviors in an incremental way. We propose a fuzzy hierarchical behavior-based architecture, in which rules and meta-rules are used in a uniform way at all levels of the control hierarchy. This architecture has been successfully used in a number of robots performing autonomous navigation tasks. In this paper, we show the use of hierarchical fuzzy behaviors to implement a set of navigation and ball control behaviors for a Sony four-legged robot operating in the RoboCup domain. We also show that the logical structure of the rules and the hierarchical decomposition simplify the design of very complex behaviors, like the "GoalKeeper" behavior.