An introduction to fuzzy control
An introduction to fuzzy control
Topological mapping for mobile robots using a combination of sonar and vision sensing
AAAI'94 Proceedings of the twelfth national conference on Artificial intelligence (vol. 2)
A multivalued logic approach to integrating planning and control
Artificial Intelligence - Special volume on planning and scheduling
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Exploring unknown undirected graphs
Journal of Algorithms
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Behavior-based Robotics
People detection and tracking using stereo vision and color
Image and Vision Computing
Journal of Intelligent and Robotic Systems
Pattern Recognition Letters
Multi-cue-based CamShift guided particle filter tracking
Expert Systems with Applications: An International Journal
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A multi-agent system based on behaviour for controlling the navigation task of a mobile robot in office-like environments is presented. The set of agents is structured into a three-layer hybrid architecture. A high level of abstraction plan is created using a topological map of the environment in the Deliberative layer. It is composed by the sequence of rooms and corridors to traverse and doors to cross in order to reach a desired room. The Execution and Monitoring layer translates the plan into a sequence of available skills in order to achieve the desired goal and monitors the execution of the plan. In the Control layer there is a set of agents that implements fuzzy and visual behaviours that run concurrently to guide the robot. Fuzzy behavior manages the vagueness and uncertainty of the range sensor information allowing to navigate safely in the environment. Visual behavior locates a required door to cross and fixate it, indicating the appropriate direction to reach it. Artificial landmarks are placed beside the doors to show its position. The system has been implemented in a Nomad 200 mobile robot and has been validated in numerous experiments in a real office-like environment.