IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

This paper presents a generic traffic priority language, called KYKLOFORTA, used by autonomous robots for collision-free navigation in a dynamic unknown or known navigation space. In a previous work by X. Grossmman (1988), a set of traffic control rules ...

Error-correcting graph isomorphism has been found useful in numerous pattern recognition applications. This paper presents a genetic-based search approach that adopts genetic algorithms as the searching criteria to solve the problem of error-correcting ...

This paper presents a novel approach for coordinating a homogeneous system of mobile robots using implicit communication in the form of broadcasts. The broadcast-based coordination scheme was developed for the Army Ant swarm-a system of small, ...

Complex robot tasks are usually described as high level goals, with no details on how to achieve them. However, details must be provided to generate primitive commands to control a real robot. A sensor explication concept that makes details explicit ...

To study the design, control and energetics of autonomous dynamically stable legged machines we have built a planar one-legged robot, the ARL Monopod. Its top running speed of 4.3 km/h (1.2 m/s) makes it the fastest electrically actuated legged robot to ...

A new kind of nonlinear adaptive filter, the adaptive neural fuzzy filter (ANFF), based upon a neural network's learning ability and fuzzy if-then rule structure, is proposed in this paper. The ANFF is inherently a feedforward multilayered connectionist ...

To date, most of the available results in learning control have been utilized in applications where a robot is required to execute the same motion over and over again, with a certain periodicity. This is due to the requirement that all learning ...

Summary discovery is one of the major components of knowledge discovery in databases, which provides the user with comprehensive information for grasping the essence from a large amount of information in a database. In this paper, we propose an ...

Sequential processes can hardly be modeled with Colored Petri Nets (CPN). Their standard functions (such as “Succ” and “Prec”) can only describe simple cases whereas modeling a complex sequence requires the definition of a function via a cumbersome and ...

The controller output error method (COEM) is introduced and applied to the design of adaptive fuzzy control systems. The method employs a gradient descent algorithm to minimize a cost function which is based on the error at the controller output. This ...

The method of linear associative memory (LAM) has recently been applied in nonlinear parameter estimation. In the method of LAM, a model response, nonlinear with respect to the parameters, is approximated linearly by a matrix, which maps inversely from ...

A new approach for obtaining a typical value of a fuzzy set as a fuzzy integral is developed by replacing the classic Lebesgue measure with the “typicality” measure. A new method for representing and calculating the one-dimensional fuzzy ...

Owing to load variation and unmodeled dynamics, a robot manipulator can be classified as a nonlinear dynamic system with structured and unstructured uncertainties. In this paper, the stability and robustness of a class of the fuzzy logic control (FLC) ...

The paper presents a new method for fuzzy query translation based on the α-cuts operations of fuzzy numbers. This proposed method allows the retrieval conditions of SQL queries to be described by fuzzy terms represented by fuzzy numbers. It ...

The planar stationary-obstacle path-planning problem for polygonal obstacles has been correctly and completely solved by T. Lozano-Perez and M. Wesley (1979), i.e., a global, optimal algorithm was provided which requires O(μ²logμ) computation time,...

The conditions of a pure translation and a pure rotation for car-like robots and dual-drive robots are derived. Based on these conditions the suitability of the path planning algorithm developed by R.A Brooks (1983) for each of the two kinds of mobile ...

This paper extends the work of H. Lee-Kwang and L.M. Lee (1995) to present the concept of the interval-valued fuzzy hypergraph. In the interval-valued fuzzy hypergraph, the concepts of the dual interval-valued fuzzy hypergraph, the crisp-valued α-...

We consider the problem of a learning mechanism (for example, a robot) locating a point on a line when it is interacting with a random environment which essentially informs it, possibly erroneously, which way it should move. In this paper we present a ...

The paper describes a novel application of the B-spline membership functions (BMF's) and the fuzzy neural network to the function approximation with outliers in training data. According to the robust objective function, we use gradient descent method to ...