Sequential Localizing and Mapping: A Navigation Strategy via Enhanced Subsumption Architecture

In this paper, we present a navigation strategy exclusively designed for social robots with limited sensors for applications in homes. The overall system integrates a reactive design based on subsumption architecture and a knowledge system with learning capabilities. The component of the system includes several modules, such as doorway detection and room localization via convolutional neural network (CNN), avoiding obstacles via reinforcement learning, passing the doorway via Canny edge’s detection, building an abstract map called a Directional Semantic Topological Map (DST-Map) within the knowledge system, and other predefined layers within the subsumption architecture. The individual modules and the overall system are evaluated in a virtual environment using Webots simulator.

Reactive control scheme based on fuzzy behaviors for mobile robot

This paper presents the design and implementation of a behavior-based control scheme. The construction of the set of behaviors is based on the use of fuzzy logic as a means for materializing the designer’s knowledge into the behaviors. The behavior set was established by left and right wall following and obstacle avoidance. These three behaviors were programmed and coordinated by a subsumption architecture or behavioral inhibition. Behavior simulations and coordination scheme design were tested by means of real experiments using a mobile robotic platform. Finally, the results are presented, where the control actions are executed by the robotic system achieving a secure navigation.

Preliminary Development of Subsumption Architecture Control for Automated Guided Vehicle

Subsumption control architecture is an control architecture based on parallel system. Input of information of sensors is directly connected through modules in the control system, and further the decision making is connected to actuators. Automated Guided Vehicle or AGV is an automated component within integrated manufacturing system. In this article, this control architecture will be designed and implemented to an AGV. Commands are designed based on Object-Oriented technology. The commands are arranged in subsumption, where a command higher subsumed other command of its lower level. GPFO (Greater Priority First Out) technique is implemed for executing the commands by using multi-threading. Experimentation is performed to have the characteristics of commands being executed. This work introduce our effort to design an operating system for an AGV.

The Pransky interview: Dr Rodney Brooks, Robotics Entrepreneur, Founder and CTO of Rethink Robotics

Purpose – This article, a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal, aims to impart the combined technological, business, and personal experience of a prominent, robotic industry engineer-turned entrepreneur regarding the evolution, commercialization, and challenges of bringing a technological invention to market. Design/methodology/approach – The interviewee is Dr Rodney Brooks, the Panasonic Professor of Robotics (emeritus), Massachusetts Institute of Technology (MIT), Computer Science and Artificial Intelligence Lab; Founder, Chief Technical Officer (CTO) and Chairman of Rethink Robotics. Dr Brooks shares some of his underlying principles in technology, academia and business, as well as past and future challenges. Findings – Dr Brooks received degrees in pure mathematics from the Flinders University of South Australia and a PhD in computer science from Stanford University in 1981. He held research positions at Carnegie Mellon University and MIT, and a faculty position at Stanford before joining the faculty of MIT in 1984. He is also a Founder, Board Member and former CTO (1991-2008) of iRobot Corp (Nasdaq: IRBT). Dr Brooks is the former Director (1997-2007) of the MIT Artificial Intelligence Laboratory and then the MIT Computer Science & Artificial Intelligence Laboratory. He founded Rethink Robotics (formerly Heartland Robotics) in 2008. Originality/value – While at MIT, in 1988, Dr Brooks built Genghis, a hexapodal walker, designed for space exploration (which was on display for ten years in the Smithsonian National Air and Space Museum in Washington, D.C.). Genghis was one of the first robots that utilized Brooks’ pioneering subsumption architecture. Dr Brooks’ revolutionary behavior-based approach underlies the autonomous robots of iRobot, which has sold more than 12 million home robots worldwide, and has deployed more than 5,000 defense and security robots; and Rethink Robotics’ Baxter, the world’s first interactive production robot. Dr Brooks has won the Computers and Thought Award at the 1991 International Joint Conference on Artificial Intelligence, the 2008 IEEE Inaba Technical Award for Innovation Leading to Production, the 2014 Robotics Industry Association’s Engelberger Robotics Award for Leadership and the 2015 IEEE Robotics and Automation Award.