Real time behavior-based control on a mobile robot

2003 ◽  
Vol 7 (3) ◽  
pp. 280-284
Author(s):  
Koota Muzyamba ◽  
Jin-Wu Qian ◽  
Lin-Yong Shen ◽  
Ya-Nan Zhang
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Time Behavior ◽  
Behavior Based Control ◽  
Behavior Based

scholarly journals Using Sun’s Java Real-Time System to Manage Behavior-Based Mobile Robot Controllers

2011 ◽  
Vol 2011 ◽  
pp. 1-11
Author(s):  
Andrew McKenzie ◽  
Shameka Dawson ◽  
Fei Hu ◽  
Monica Anderson
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Challenging Behavior ◽  
Timing Constraints ◽  
Time System ◽  
Real Time System ◽  
Garbage Collector ◽  
The Real ◽  
Robot Controller ◽  
Behavior Based

Implementing a robot controller that can effectively manage limited resources in a deterministic, real-time manner is challenging. Behavior-based architectures that decompose autonomy into levels of intelligence are popular due to their robustness but do not provide real-time features that enforce timing constraints or support determinism. We propose an architecture and approach for using the real-time features of the Real-Time Specification for Java (RTSJ) in a behavior-based mobile robot controller to show that timing constraints affect performance. This is accomplished by extending a real-time aware architecture that explicitly enumerates timing requirements for each behavior. It is not enough to reduce latency. The usefulness of this approach is demonstrated via an implementation on Solaris 10 and the Sun Java Real-Time System (Java RTS). Experimental results are obtained using a K-team Koala robot performing path following with four composite behaviors. Experiments were conducted using several task period sets in three cases: real-time threads with the real-time garbage collector, real-time threads with the non- real-time garbage collector, and non-real-time threads with the non-real-time garbage collector. Results show that even if latency and determinism are improved, the timing of each individual behavior significantly affects task performance.

scholarly journals WALL-FOLLOWING BEHAVIOR-BASED MOBILE ROBOT USING PARTICLE SWARM FUZZY CONTROLLER

2016 ◽  
Vol 9 (1) ◽  
pp. 9 ◽  
Author(s):  
Andi Adriansyah ◽  
Shamsudin H. Mohd. Amin
Keyword(s):  
Mobile Robot ◽  
Fuzzy Controller ◽  
Particle Swarm ◽  
Control Architecture ◽  
Learning Abilities ◽  
Fuzzy Variables ◽  
Behavior Based Control ◽  
Behavior Based ◽  
Two Stages ◽  
Wall Following

Behavior-based control architecture has been broadly recognized due to their compentence in mobile robot development. Fuzzy logic system characteristics are appropriate to address the behavior design problems. Nevertheless, there are problems encountered when setting fuzzy variables manually. Consequently, most of the efforts in the field, produce certain works for the study of fuzzy systems with added learning abilities. This paper presents the improvement of fuzzy behavior-based control architecture using Particle Swarm Optimization (PSO). A wall-following behaviors used on Particle Swarm Fuzzy Controller (PSFC) are developed using the modified PSO with two stages of the PSFC process. Several simulations have been accomplished to analyze the algorithm. The promising performance have proved that the proposed control architecture for mobile robot has better capability to accomplish useful task in real office-like environment.

scholarly journals The Grateful Don’t Cheat: Gratitude as a Fount of Virtue

2019 ◽  
Vol 30 (7) ◽  
pp. 979-988 ◽  
Author(s):  
David DeSteno ◽  
Fred Duong ◽  
Daniel Lim ◽  
Shanyu Kates
Keyword(s):  
Real Time ◽  
Emotional State ◽  
Self Control ◽  
Time Behavior ◽  
Laboratory Setting ◽  
Online Setting ◽  
Moral Qualities ◽  
Behavior Based

Gratitude has been linked to behaviors involving the exchange of resources; it motivates people to repay debts to benefactors. However, given its links to self-control—itself a necessary factor for repaying debts—the possibility arises that gratitude might enhance other virtues unrelated to exchange that depend on an ability to resist temptation. Here, we examined gratitude’s ability to function as a “parent” virtue by focusing on its ability to reduce cheating. Using real-time behavior-based measures of cheating, we demonstrated that gratitude, as opposed to neutrality and the more general positive emotional state of happiness, reduces cheating in both a controlled laboratory setting ( N = 156) and a more anonymous online setting ( N = 141). This finding suggests that not all moral qualities need to be studied in silos but, rather, that hierarchies exist wherein certain virtues might give rise to seemingly unrelated others.

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