Behavior-Based Control Architecture for Legged-and-Climber Robots

In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The architecture gives the robots the ability to perform self-reconfiguration after unforeseen leg failures, because it can control this kind of robot with different numbers of legs. The results show the capability of performing movements in any direction and inclination planes. The components and functionalities of the developed control architecture for these robots are described, and, the architecture’s performance is tested on the ROMHEX robot.

When and How Does the Job Insecurity of Salespersons Become a Sleep Problem? The Moderating Roles of Organizational Control Systems

The present study examines the effect of the emotional exhaustion associated with salespersons’ job insecurity on their sleep (i.e., insomnia symptoms). We identified two types of formal organizational control systems (i.e., outcome-based and behavior-based controls) as boundary conditions that strengthen/weaken the positive relationship between job insecurity and emotional exhaustion. To test this moderating effect, we collected online panel surveys from 187 Korean salespersons at two time points, which were separated by three months. Like our predictions, the positive relationship between job insecurity and negative sleep quality (i.e., insomnia symptoms) was found to be mediated by emotional exhaustion. We further found a significant three-way interaction between job insecurity, outcome-based control, and behavior-based control, which is mediated by emotional exhaustion, indicating that the positive relationship between job insecurity and emotional exhaustion was strongest when the outcome-based control and behavior-based control of salespersons were high and low, respectively. The indirect effect of the emotional exhaustion associated with job insecurity on sleep quality was also weakest when the outcome-based control and behavior-based control were both high. These results provide theoretical and practical implications for managing employees in job insecurity contexts.

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.

Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions

Aerial robotic swarms have shown benefits for performing search and surveillance missions in open spaces in the past. Among other properties, these systems are robust, scalable and adaptable to different scenarios. In this work, we propose a behavior-based algorithm to carry out a surveillance task in a rectangular area with a flexible number of quadcopters, flying at different speeds. Once the efficiency of the algorithm is quantitatively analyzed, the robustness of the system is demonstrated with 3 different tests: loss of broadcast messages, positioning errors, and failure of half of the agents during the mission. Experiments are carried out in an indoor arena with micro quadcopters to support simulation results. Finally, a case study is proposed to show a realistic implementation in the test bed.