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Proceedings Paper

Generation of fuzzy rules and DNA coding method for cooperative behavior of autonomous mobile robots (AMRs)
Author(s): Jang-hyun Kim; Jin-bae Park; Hyun-seok Yang; Yong-pil Park
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Paper Abstract

Complex "lifelike" behaviors are composed of local interactions of individuals under fundamental rules of artificial life. In this paper, fundamental rules for cooperative group behaviors, "flocking" and "arrangement" of multiple autonomouse mobile robots were represented by a small number of fuzzy rules by Subtractive clustering algorithm and DNA coding method. Fuzzy rules in Sugeno type and their related parameters were automatically generated from clustering inputoutput data obtained from the algorithms for the group behaviors. Simulations demonstrate the fuzzy rules successfully realize group intelligence of mobile robots.

Paper Details

Date Published: 2 May 2006
PDF: 6 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423J (2 May 2006); doi: 10.1117/12.664708
Show Author Affiliations
Jang-hyun Kim, Yonsei Univ. (South Korea)
Jin-bae Park, Yonsei Univ. (South Korea)
Hyun-seok Yang, Yonsei Univ. (South Korea)
Yong-pil Park, Yonsei Univ. (South Korea)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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