Navigation behavior selection using generalized stochastic Petri nets for a service robot

IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews

Volumn 37, Issue 4, 2007, Pages 494-503

  Kim, Gunhee ^a   Chung, Woojin ^b  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b Korea University   (South Korea)

Author keywords

Behavior selection; Generalized stochastic Petri nets; Mobile robot navigation; Service robot

Indexed keywords

AUTONOMOUS NAVIGATION; BEHAVIOR SELECTION; GENERALIZED STOCHASTIC PETRI NETS; SERVICE ROBOT;

FINITE AUTOMATA; MARKOV PROCESSES; PETRI NETS; PROBABILITY; STOCHASTIC CONTROL SYSTEMS;

MOBILE ROBOTS;

EID: 34447317809     PISSN: 10946977     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCC.2007.897330     Document Type: Article

References (30)

1. G. Kim, W. Chung, S. Han, K.-R. Kim, M. Kim, and R. H. Shinn, "The autonomous tour-guide robot Jinny," in Proc. of 2004 IEEE/RSJ Int. Conf. Intell. Robots Syst., Sendai, Japan, 2007, pp. 3450-3455.
2. G. Kim and W. Chung, "Tripodal schematic control architecture for integration of multi-functional indoor service robots," IEEE Trans. Ind. Electron., vol. 53, no. 5, pp. 1723-1736, Oct. 2006.
3. D. Lee and W. Chung, "Discrete status based localization for indoor service robots," IEEE Trans. Ind. Electron., vol. 53, no. 5, pp. 1737-1746, Oct. 2006.
4. J. Wang, Timed Petri Nets Theory and Application. Norwell, MA: Kluwer, 1998.
5. R. Y. Al-Jaar and A. A. Desrochers, "Performance evaluation of automated manufacturing systems using generalized stochastic Petri nets," IEEE Trans. Robot. Autom., vol. 6, no. 6, pp. 621-639, Dec. 1990.
6. T. Murata, "Petri nets: Properties, analysis and applications," Proc. IEEE, vol. 77, no. 4, pp. 541-580, Apr. 1989.
7. J. L. Peterson, Petri Net Theory and the Modeling of Systems. Englewood Cliffs, NJ: Prentice-Hall, 1981.
8. R. David and H. Alla, "Petri nets for modeling of dynamic systems - A survey," Automatica, vol. 30, no. 2, pp. 175-202, 1994.
9. O. Trullier, S. I. Wiener, A. Berthoz, and J. A. Meyer, "Biologically based artificial navigation systems: Review and prospects," Prog. Neurobiol., vol. 51, pp. 483-544, 1997.
10. M. O. Franz and H. A. Mallot, "Biomimetic robot navigation," Robot. Auton. Syst., vol. 30, pp. 133-153, 2000.
11. D. Lambrinos, P. Möller, T. Labhart, R. Pfeifer, and R. Wehner, "A mobile robot employing insect strategies for navigation," Robot. Auton. Syst., vol. 30, pp. 39-64, 2000.
12. P. Pirjanian, "Behavior coordination mechanism - State-of-the-art," Inst. Robot. Intell. Syst., Sch. Eng. Univ. South, California, Los Angeles, CA, Tech. Rep. IRIS-99-375, Oct. 1999.
13. M. Scheutz and V. Andronache, "Architectural mechanisms for dynamic changes of behavior selection strategies in behavior-based system," IEEE Trans. Syst. Man, Cybern., vol. 34, no. 6, pp. 2377-2395, Dec. 2004.
14. R. A. Brooks, "A robust layered control system for a mobile robot," IEEE J. Robot. Autom., vol. 2, no. 1, pp. 14-23, Mar. 1986.
15. J. Kosecká and R. Bajcsy, "Discrete event systems for autonomous mobile agents," Robot. Auton. Syst., vol. 12, pp. 187-198, 1994.
16. P. Maes, "How to do the right thing," AI Lab., MIT, Cambridge, MA, Tech. Rep. NE 43-836, 1989.
17. J. K. Rosenblatt, "DAMN: A distributed architecture for mobile navigation," paper presented at the 1995 AAAI Spring Symp. Lessons Learn. Implement. Software Arch. Phys. Agents, Stanford, CA.
18. R. C. Arkin, "Motor schema-based mobile robot navigation," Int. J. Robot. Res., vol. 8, no. 4, pp. 82-112, 1989.
19. A. Saffiotti, K. Konolige, and E. H. Ruspini, "Amultivalued logic approach to integrating planning and control," Artif. Intell., vol. 76, pp. 481-526, Mar. 1995.
20. P. Pirjanian, "Multiple objective behavior-based control," Robot. Auton. Syst., vol. 31, pp. 53-60, 2000.
21. R. C. Arkin and D. MacKenzie, "Temporal coordination of perceptual algorithms for mobile robot navigation," IEEE Trans. Robot. Autom. vol. 10, no. 3, pp. 276-286, Jun. 1994.
22. S. Koenig and R. G. Simmons, "Xavier: A robot navigation architecture based on partially observable Markov decision process models," in Artificial Intelligence and Mobile Robots, D. Kortenkamp, R. P. Bonasso, and R. Murphy, Eds. Cambridge, MA: MIT Press, 1998, pp. 91-122.
23. G. N. Saridis, "Architectures for intelligent controls," in Intelligent Control Systems: Theory and Applications. Piscataway, NJ: IEEE Press, 1995.
24. D. Glüer and G. Schmidt, "A new approach for context based exception handling in autonomous mobile service robots," in Proc. 2000 IEEE Int. Conf. Robot. Autom., San Francisco, CA, pp. 3272-3277.
25. F. Dellaert, D. Fox, W. Burgard, and S. Thrun, "Monte Carlo localization for mobile robots," in Proc. 1999 IEEE Int. Conf. Robot. Autom., Detroit, MI, pp. 1322-1328.
26. K. Konolige, "A gradient method for realtime robot control," in Proc. 2000 IEEE/RSJ Int. Conf. Intell. Robots Syst., Takamatsu, Japan, pp. 639-646.
27. N. Roy, W. Burgard, D. Fox, and S. Thrun, "Coastal navigation-mobile robot navigation with uncertainty in dynamic environments," in Proc. 1999 IEEE Int. Conf. Robot Autom., Detroit, MI, pp. 35-40.
28. P. Örgren and N. Leonard, "A tractable convergent dynamic window approach to obstacle avoidance," in Proc. 2002 IEEE/RSJ Int. Conf. Intell. Robots Syst., Lausanne, Switzerland, pp. 595-600.
29. D. Fox, W. Burgard, and S. Thrun, "The dynamic window approach to collision avoidance," IEEE Robot. Autom. Mag., vol. 4, no. 1, Mar. 1997.
30. E. Rimon and D. Koditschek, "Exact robot navigation using artificial potential functions," IEEE Trans. Robot. Autom., vol. 8, no. 5, pp. 501-518, Oct. 1992.