This paper deals with the problem of multi-robot border patrolling. The patrolling algorithm is designed by resorting to the behavioral control framework and is organized in a hierarchical structure. Several Elementary Behaviors are defined, which are the basis of the concept of Action, placed at a higher level of abstraction with respect to the behaviors. Each Action is obtained by properly combining multiple Elementary Behaviors via the Null-Space-Behavioral control framework. For the sake of robustness, the overall patrolling algorithm is fully decentralized, since explicit communication between robots is not needed. A a Fuzzy Inference System is designed to select the proper Action according to local sensor information only. The algorithm has been validated in simulation as well as experimentally on a setup composed by three Pioneer robots.

Fuzzy Behavioral Control for Multi-Robot Border Patrol

A. MARINO
;
ANTONELLI, Gianluca;
2009-01-01

Abstract

This paper deals with the problem of multi-robot border patrolling. The patrolling algorithm is designed by resorting to the behavioral control framework and is organized in a hierarchical structure. Several Elementary Behaviors are defined, which are the basis of the concept of Action, placed at a higher level of abstraction with respect to the behaviors. Each Action is obtained by properly combining multiple Elementary Behaviors via the Null-Space-Behavioral control framework. For the sake of robustness, the overall patrolling algorithm is fully decentralized, since explicit communication between robots is not needed. A a Fuzzy Inference System is designed to select the proper Action according to local sensor information only. The algorithm has been validated in simulation as well as experimentally on a setup composed by three Pioneer robots.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11580/1464
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