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22 September 1997 Behavior coordination using multiple-objective decision making
Paolo Pirjanian, Henrik I. Christensen
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Proceedings Volume 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems; (1997) https://doi.org/10.1117/12.287656
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States
Abstract
In this paper we demonstrate how principles of multiple objective decision making (MODM) can be used to analysis, design and implement multiple behavior based systems. A structured methodology is achieved where each system objective, such as obstacle avoidance or convoying, is modeled as a behavior. Using MODM we formulate mechanisms for integrating such behaviors into more complex ones. A mobile robot navigation example is given where the principles of MODM are demonstrated. Simulated as well as real-world experiments show that a smooth blending of behaviors according to the principles of MODM enables coherent robot behavior.
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Paolo Pirjanian and Henrik I. Christensen "Behavior coordination using multiple-objective decision making", Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); https://doi.org/10.1117/12.287656
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KEYWORDS
Mobile robots
Systems modeling
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