Autonomous Robotic Systems

by Zhou, Changjiu; Maravall, Dario; Ruan, Da; Ruan, Da

• ISBN13: 9783790815467
• ISBN10: 3790815462
• Format: Hardcover
• Copyright: 2003-02-01
• Publisher: Physica Verlag

Summary

This book contains an edited collection of eighteen contributions on soft and hard computing techniques and their applications to autonomous robotic systems. Each contribution has been exclusively written for this volume by a leading researcher. The volume demonstrates the various ways that the soft computing and hard computing techniques can be used in different integrated manners to better develop autonomous robotic systems that can perform various tasks of vision, perception, cognition, thinking, pattern recognition, decision-making, and reasoning and control, amongst others. Each chapter of the book is self-contained and points out the future direction of research. "It is a must reading for students and researchers interested in exploring the potentials of the fascinating field that will form the basis for the design of the intelligent machines of the future" ( Madan M. Gupta )

Table of Contents

Foreword	v
M.M. Gupta
Preface	vii
C. Zhou
D. Maravall
D. Ruan
Part 1: Basic Principles and Methodologies	1	(72)
Where is Knowledge in Robotics? Some Methodological Issues on Symbolic and Connectionist Perspectives of AI	3	(32)
J. Mira
A.E. Delgado
Introduction to Fusion Based Systems - Contributions of Soft Computing Techniques and Application to Robotics	35	(38)
M. Oussalah
Part 2: Planning and Navigation	73	(160)
Applied Soft Computing Strategies for Autonomous Field Robotics	75	(28)
E. Tunstel
A. Howard
T. Huntsberger
A. Trebi-Ollennu
J. M. Dolan
Integration of Reactive Utilitarian Navigation and Topological Modeling	103	(38)
J. de Lope
D. Maravall
Line-Crawling Robot Navigation: A Rough Neurocomputing Approach	141	(24)
J.F. Peters
T.C. Ahn
M. Borkowski
V. Degtyaryov
S. Ramanna
Hierarchical Planning in a Mobile Robot for Map Learning and Navigation	165	(24)
C. Urdiales
A. Bandera
E. Perez
A. Poncela
F. Sandoval
An Analytical Method for Decomposing the External Environment Representation Task for a Robot with Restricted Sensory Information	189	(28)
F. de la Paz
J.R. Alvarez
J. Mira
Evolutionary Artificial Potential Field - Applications to Mobile Robot Path Planning	217	(16)
P. Vadakkepat
T.H. Lee
L. Xin
Part 3: Learning, Adaptation and Control	233	(196)
Using Hierarchical Fuzzy Behaviors in the RoboCup Domain	235	(28)
A. Saffiotti
Z. Wasik
A Bio-Inspired Robotic Mechanism for Autonomous Locomotion in Unconventional Environments	263	(30)
D. Maravall
J. de Lope
Online Learning and Adaptation for Intelligent Embedded Agents Operating in Domestic Environments	293	(30)
H. Hagras
V. Callaghan
M. Colley
G. Clarke
H. Duman
Integration of Soft Computing Towards Autonomous Legged Robots	323	(30)
A. Wong
M.H. Ang Jr
Grasp Learning by Active Experimentation Using Continuous B-Spline Model	353	(20)
J. Zhang
B. Rossler
Online Adaptive Fuzzy Neural Identification and Control of Nonlinear Dynamic Systems	373	(30)
M.J. Er
Y. Gao
Hybrid Fuzzy Proportional-Integral plus Conventional Derivative Control of Robotics Systems	403	(26)
M.J. Er
Y. L. Sun
Part 4: Vision and Perception	429	(64)
Robot Vision Using Cellular Neural Networks	431	(20)
M. Balsi
X. Vilasis-Cardona
Multiresolution Vision in Autonomous Systems	451	(20)
P. Camacho
F. Arrebola
F. Sandoval
A Computer Vision Based Human-Robot Interface	471	(22)
J. M. Buenaposada
L. Baumela
Subject Index	493	(4)
Contributors	497