Application of voting to fusion of purposive modules: An experimental investigation
نویسندگان
چکیده
Control in behavior-based systems is distributed among a set of specialized behaviors. To achieve eecient implementation, behaviors exploit speciic assumptions about a given task and environment. Thus they become vulnerable to deviations that render these assumption invalid. Yet it is important to provide appropriate responses to unforeseen situations. We demonstrate that, using voting techniques, a model-free approach may be provided to constructing reliable behaviors from a multitude of less reliable ones. A team of complementary behaviors vote for the set of possible actions and the action which is most favored is selected for controlling the system. We conjecture that selecting actions according to this scheme can improve the probability of success. Our conjecture is investigated through two sets of experiments. In the rst, a team of obstacle avoidance behaviors vote to guide a mobile robot platform in the most appropriate direction. In the second, four object tracking modules are integrated to perform smooth pursuit with a camera head.
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عنوان ژورنال:
- Robotics and Autonomous Systems
دوره 23 شماره
صفحات -
تاریخ انتشار 1998