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Proceedings Paper

Behavior coordination using multiple-objective decision making
Author(s): Paolo Pirjanian; Henrik I. Christensen
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Paper Abstract

In this paper we demonstrate how principles of multiple objective decision making (MODM) can be used to analysis, design and implement multiple behavior based systems. A structured methodology is achieved where each system objective, such as obstacle avoidance or convoying, is modeled as a behavior. Using MODM we formulate mechanisms for integrating such behaviors into more complex ones. A mobile robot navigation example is given where the principles of MODM are demonstrated. Simulated as well as real-world experiments show that a smooth blending of behaviors according to the principles of MODM enables coherent robot behavior.

Paper Details

Date Published: 22 September 1997
PDF: 12 pages
Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); doi: 10.1117/12.287656
Show Author Affiliations
Paolo Pirjanian, Aalborg Univ. (Denmark)
Henrik I. Christensen, Royal Institute of Technology (Sweden)


Published in SPIE Proceedings Vol. 3209:
Sensor Fusion and Decentralized Control in Autonomous Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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