The null-space-based behavioral control for autonomous robotic systems

In this paper a new behavior-based approach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach is compared with the main existing approaches while two experimental case studies, performed with a Khepera II mobile robot, are reported to validate its effectiveness.

[1]  Daniel J. Stilwell,et al.  On the application of redundant manipulator techniques to the control of platoons of autonomous vehicles , 2001, Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204).

[2]  Ronald C. Arkin,et al.  Motor Schema — Based Mobile Robot Navigation , 1989, Int. J. Robotics Res..

[3]  Maja J. Mataric,et al.  Behaviour-based control: examples from navigation, learning, and group behaviour , 1997, J. Exp. Theor. Artif. Intell..

[4]  Bruno Siciliano,et al.  Kinematic control of redundant robot manipulators: A tutorial , 1990, J. Intell. Robotic Syst..

[5]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[6]  Ronald C. Arkin,et al.  An Behavior-based Robotics , 1998 .

[7]  Martial Hebert,et al.  A behavior-based system for off-road navigation , 1994, IEEE Trans. Robotics Autom..

[8]  Gianluca Antonelli,et al.  Fuzzy redundancy resolution and motion coordination for underwater vehicle-manipulator systems , 2003, IEEE Trans. Fuzzy Syst..

[9]  Yoram Koren,et al.  Real-time obstacle avoidance for fast mobile robots in cluttered environments , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[10]  Paolo Pirjanian.  Multiple objective behavior-based control , 2000, Robotics Auton. Syst..

[11]  Amol Dattatraya Mali.  On the behavior-based architectures of autonomous agency , 2002, IEEE Trans. Syst. Man Cybern. Part C.

[12]  B. E. Bishop.  On the use of redundant manipulator techniques for control of platoons of cooperating robotic vehicles , 2003, IEEE Trans. Syst. Man Cybern. Part A.

[13]  Stefano Chiaverini,et al.  Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators , 1997, IEEE Trans. Robotics Autom..

[14]  Lynne E. Parker,et al.  On the design of behavior-based multi-robot teams , 1995, Adv. Robotics.

[15]  Alessandro Saffiotti,et al.  A hierarchical behavior-based approach to manipulation tasks , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[16]  Yoram Koren,et al.  Real-time obstacle avoidance for fact mobile robots , 1989, IEEE Trans. Syst. Man Cybern..

[17]  Maja J. Matari,et al.  Behavior-based Control: Examples from Navigation, Learning, and Group Behavior , 1997 .

[18]  Bruno Siciliano,et al.  Closed-Loop Inverse Kinematics Schemes for Constrained Redundant Manipulators with Task Space Augmentation and Task Priority Strategy , 1991, Int. J. Robotics Res..

[19]  Anthony A. Maciejewski,et al.  Numerical filtering for the operation of robotic manipulators through kinematically singular configurations , 1988, J. Field Robotics.

[20]  Maria L. Gini,et al.  Enlisting rangers and scouts for reconnaissance and surveillance , 2000, IEEE Robotics Autom. Mag..

[21]  Gianluca Antonelli,et al.  EXPERIMENTAL KINEMATIC COMPARISON OF BEHAVIORAL APPROACHES FOR MOBILE ROBOTS , 2005 .

[22]  Oliver Brock,et al.  Exploiting redundancy to implement multiobjective behavior , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[23]  Erann Gat,et al.  Behavior control for robotic exploration of planetary surfaces , 1994, IEEE Trans. Robotics Autom..

[24]  Jonghoon Park,et al.  Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[25]  Gianluca Antonelli,et al.  Fault tolerant kinematic control of platoons of autonomous vehicles , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[26]  T. Yoshikawa,et al.  Task-Priority Based Redundancy Control of Robot Manipulators , 1987 .

[27]  Matthias Scheutz,et al.  Architectural mechanisms for dynamic changes of behavior selection strategies in behavior-based systems , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[28]  Gianluca Antonelli,et al.  TheNull-Space-Based Behavioral Control forMobile Robots , 2005 .

[29]  Tucker R. Balch,et al.  Behavior-based formation control for multirobot teams , 1998, IEEE Trans. Robotics Autom..

[30]  Alessandro De Luca,et al.  Stabilization of the Unicycle Via Dynamic Feedback Linearization , 2000 .

[31]  Gianluca Antonelli,et al.  Kinematic control of a platoon of autonomous vehicles , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[32]  Yasuhisa Hasegawa,et al.  Mood and task coordination of home robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).