Autonomous Mobile Robotics Lab

From: J. R. Molloy (
Date: Tue Oct 10 2000 - 10:23:37 MDT

Autonomous Mobile Robotics Lab
Recently, we have begun research into new ways of designing constructive robots
and new perspectives of the roles of robotics in education and in entertainment.
In particular, we and our collaborators (elementary school aged children,
artists, computer scientists, educators, and engineers) have created a robotic
story telling environment called PETS (A Personal Electronic Teller Of Stories),
in which children write stories, construct robotic animals, design emotions, and
direct the robots to become actors in their narratives.
The development of techniques for autonomous navigation in real-world
environments constitutes one of the major trends in the current research on
robotics. An important problem in autonomous navigation is the need to cope with
the large amount of uncertainty that is inherent of natural environments. Fuzzy
logic has features that make it an adequate tool to address this problem. In
this paper, we review some of the possible uses of fuzzy logic in the field of
autonomous navigation. We focus on four issues: how to design robust
behavior-producing modules; how to coordinate the activity of several such
modules; how to use data from the sensors; and how to integrate high-level
reasoning and low-level execution. For each issue, we review some of the
proposals in the literature, and discuss the pros and cons of fuzzy logic

Online papers:
Survey paper on fuzzy logic for autonomous robot navigation
On the integration of knowledge-based planning and behavior-based control

Stay hungry,

--J. R.
3M TA3

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