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Fuzzy and neuro-fuzzy based co-operative mobile robots

Pham, Duc Truong, Awadalla, Medhat Hussein and Eldukhri, Eldaw Elzaki 2006. Fuzzy and neuro-fuzzy based co-operative mobile robots. Presented at: 2nd I*PROMS Virtual International Conference, online, 3-14 July 2006. Published in: Pham, Duc Truong, Eldukhri, Eldaw Elzaki and Soroka, Anthony John eds. Intelligent Production Machines and Systems - 2nd I*PROMS Virtual International Conference, 3-14 July 2006. Elsevier, pp. 578-583. 10.1016/B978-008045157-2/50101-2

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This paper focuses on the development of intelligent multi-agent robot teams that are capable of acting autonomously and of collaborating in a dynamic environment to achieve team objectives. A biologically-inspired collective behaviour for a team of co-operating robots is proposed. A modification of the subsumption architecture is proposed for implementing the control of the individual robots. The paper also proposes a fuzzy logic technique to enable the resolution of conflicts between contradictory behaviours within each robot. Furthermore, the paper proposes a neuro-fuzzy based adaptive action selection architecture that enables team of robot agents to achieve adaptive cooperative control to perform two proof-of-concept co-operative tasks: dynamic target tracking and box-pushing. Simulated and real experiments have been conducted to validate the proposed techniques.

Item Type: Conference or Workshop Item (Paper)
Date Type: Publication
Status: Published
Schools: Engineering
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Publisher: Elsevier
ISBN: 9780080451572
Last Modified: 10 Oct 2017 14:43

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