A robot control architecture based on graph grammars and fuzzy logic

Jörg-Michael Hasemann

doi:10.1109/IROS.1994.407572

A robot control architecture based on graph grammars and fuzzy logic

Jörg-Michael Hasemann

VTT Technical Research Centre of Finland

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

3 Citations (Scopus)

Abstract

New concepts for robot control architectures are presented. Special emphasis is put on planning and monitoring for task level control tasks. New features introduced are behaviour switching, complete monitoring of plan execution and plan validity and rigorous explicit representation of activities and mutual dependencies within plans. The key techniques used to model decision making and plan modification are fuzzy logic and graph grammars. Fuzzy logic is used to guide planning and graph grammars provide the framework for expanding plan components. Moreover, a behaviour switching mechanism is proposed, which allows critical behaviours to interrupt or abandon a current less critical behaviour.

Original language	English
Title of host publication	Proceedings of the
Subtitle of host publication	Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)
Publisher	IEEE Institute of Electrical and Electronic Engineers
Pages	2123-2130
ISBN (Print)	0-7803-1933-8
DOIs	https://doi.org/10.1109/IROS.1994.407572
Publication status	Published - 1994
MoE publication type	A4 Article in a conference publication
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) - München, Germany Duration: 12 Sept 1994 → 16 Sept 1994

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)
Country/Territory	Germany
City	München
Period	12/09/94 → 16/09/94

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10.1109/IROS.1994.407572

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title = "A robot control architecture based on graph grammars and fuzzy logic",

abstract = "New concepts for robot control architectures are presented. Special emphasis is put on planning and monitoring for task level control tasks. New features introduced are behaviour switching, complete monitoring of plan execution and plan validity and rigorous explicit representation of activities and mutual dependencies within plans. The key techniques used to model decision making and plan modification are fuzzy logic and graph grammars. Fuzzy logic is used to guide planning and graph grammars provide the framework for expanding plan components. Moreover, a behaviour switching mechanism is proposed, which allows critical behaviours to interrupt or abandon a current less critical behaviour.",

author = "J{\"o}rg-Michael Hasemann",

year = "1994",

doi = "10.1109/IROS.1994.407572",

language = "English",

isbn = "0-7803-1933-8",

pages = "2123--2130",

booktitle = "Proceedings of the",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

address = "United States",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) ; Conference date: 12-09-1994 Through 16-09-1994",

}

Hasemann, J-M 1994, A robot control architecture based on graph grammars and fuzzy logic. in Proceedings of the : Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94). IEEE Institute of Electrical and Electronic Engineers, pp. 2123-2130, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94), München, Bavaria, Germany, 12/09/94. https://doi.org/10.1109/IROS.1994.407572

A robot control architecture based on graph grammars and fuzzy logic. / Hasemann, Jörg-Michael.
Proceedings of the : Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94). IEEE Institute of Electrical and Electronic Engineers, 1994. p. 2123-2130.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

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N2 - New concepts for robot control architectures are presented. Special emphasis is put on planning and monitoring for task level control tasks. New features introduced are behaviour switching, complete monitoring of plan execution and plan validity and rigorous explicit representation of activities and mutual dependencies within plans. The key techniques used to model decision making and plan modification are fuzzy logic and graph grammars. Fuzzy logic is used to guide planning and graph grammars provide the framework for expanding plan components. Moreover, a behaviour switching mechanism is proposed, which allows critical behaviours to interrupt or abandon a current less critical behaviour.

AB - New concepts for robot control architectures are presented. Special emphasis is put on planning and monitoring for task level control tasks. New features introduced are behaviour switching, complete monitoring of plan execution and plan validity and rigorous explicit representation of activities and mutual dependencies within plans. The key techniques used to model decision making and plan modification are fuzzy logic and graph grammars. Fuzzy logic is used to guide planning and graph grammars provide the framework for expanding plan components. Moreover, a behaviour switching mechanism is proposed, which allows critical behaviours to interrupt or abandon a current less critical behaviour.

U2 - 10.1109/IROS.1994.407572

DO - 10.1109/IROS.1994.407572

M3 - Conference article in proceedings

SN - 0-7803-1933-8

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EP - 2130

BT - Proceedings of the

PB - IEEE Institute of Electrical and Electronic Engineers

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

Y2 - 12 September 1994 through 16 September 1994

ER -

A robot control architecture based on graph grammars and fuzzy logic

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