Emergent Behavior Based Sensor Fusion for Mobile Robot Navigation System
Summary :
This paper proposes Emergent Behavior Based Architecture (EBBA) that fusions heterogeneous sensor information at the level of behavior modules. The characteristics of EBBA are as follows. i) sensor based architecture, ii) constructed by a set of concurrently executable behavior modules, iii) to have multiple methods to achieve given tasks by utilizing behavior modules, iv) a planner can control emergent behaviors. We also have developed mobile robot navigation system based on EBBA and confirmed the efficiency by experiments in the various situations.
- Publication
- IEICE TRANSACTIONS on Information Vol.E81-D No.9 pp.959-967
- Publication Date
- 1998/09/25
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- Special Section PAPER (Special Issue on Multisensor Fusion and Integration)
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Yasushi NAKAUCHI, Yasuchika MORI, "Emergent Behavior Based Sensor Fusion for Mobile Robot Navigation System" in IEICE TRANSACTIONS on Information,
vol. E81-D, no. 9, pp. 959-967, September 1998, doi: .
Abstract: This paper proposes Emergent Behavior Based Architecture (EBBA) that fusions heterogeneous sensor information at the level of behavior modules. The characteristics of EBBA are as follows. i) sensor based architecture, ii) constructed by a set of concurrently executable behavior modules, iii) to have multiple methods to achieve given tasks by utilizing behavior modules, iv) a planner can control emergent behaviors. We also have developed mobile robot navigation system based on EBBA and confirmed the efficiency by experiments in the various situations.
URL: https://global.ieice.org/en_transactions/information/10.1587/e81-d_9_959/_p
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@ARTICLE{e81-d_9_959,
author={Yasushi NAKAUCHI, Yasuchika MORI, },
journal={IEICE TRANSACTIONS on Information},
title={Emergent Behavior Based Sensor Fusion for Mobile Robot Navigation System},
year={1998},
volume={E81-D},
number={9},
pages={959-967},
abstract={This paper proposes Emergent Behavior Based Architecture (EBBA) that fusions heterogeneous sensor information at the level of behavior modules. The characteristics of EBBA are as follows. i) sensor based architecture, ii) constructed by a set of concurrently executable behavior modules, iii) to have multiple methods to achieve given tasks by utilizing behavior modules, iv) a planner can control emergent behaviors. We also have developed mobile robot navigation system based on EBBA and confirmed the efficiency by experiments in the various situations.},
keywords={},
doi={},
ISSN={},
month={September},}
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TY - JOUR
TI - Emergent Behavior Based Sensor Fusion for Mobile Robot Navigation System
T2 - IEICE TRANSACTIONS on Information
SP - 959
EP - 967
AU - Yasushi NAKAUCHI
AU - Yasuchika MORI
PY - 1998
DO -
JO - IEICE TRANSACTIONS on Information
SN -
VL - E81-D
IS - 9
JA - IEICE TRANSACTIONS on Information
Y1 - September 1998
AB - This paper proposes Emergent Behavior Based Architecture (EBBA) that fusions heterogeneous sensor information at the level of behavior modules. The characteristics of EBBA are as follows. i) sensor based architecture, ii) constructed by a set of concurrently executable behavior modules, iii) to have multiple methods to achieve given tasks by utilizing behavior modules, iv) a planner can control emergent behaviors. We also have developed mobile robot navigation system based on EBBA and confirmed the efficiency by experiments in the various situations.
ER -
English
