Abstract
In this paper, it is argued that the standard taxonomy of behavior selection is incomplete. In order to overcome the limitations of standard behavior selection, a novel method for decision-making, the extended utility function (EUF) method, has been developed. Based on the concept of utility as a common currency for decision-making, the method handles decision-making involving both cognitive processes and (motor) behaviors, and is applicable as a general-purpose framework for decision-making in autonomous robots (as well as software agents). The EUF method is introduced and described, and it is then illustrated by means of an example. Preliminary tests indicate that the method performs well, allowing users rapidly to set up a decision-making system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bryson, J.J.: Mechanisms of action selection: Introduction to the special issue. Adaptive Behavior 15(1), 5–8 (2007)
Pirjanian, P.: Behavior-coordination mechanisms – state-of-the-art. Technical report IRIS-99-375, Institute for Robotics and Intelligent Systems, University of Southern California (1999)
Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 500–505 (1985)
Wahde, M.: A method for behavioural organization for autonomous robots based on evolutionary optimization of utility functions. Journal of Systems and Control Engineering 217(4), 249–258 (2003)
von Neumann, J., Morgenstern, O.: Theory of Games and Economic Behavior, 3rd edn. Princeton University Press, Princeton (1953)
McFarland, D.: Animal Behaviour: Psychobiology, Ethology and Evolution, 3rd edn. Prentice-Hall, Englewood Cliffs (1998)
Pettersson, J., Hartono, P., Wahde, M.: A behavior module for odometry recalibration in autonomous robots. In: Proceedings of the Fourth International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2007), pp. 11–17 (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Wahde, M. (2009). A General-Purpose Method for Decision-Making in Autonomous Robots. In: Chien, BC., Hong, TP., Chen, SM., Ali, M. (eds) Next-Generation Applied Intelligence. IEA/AIE 2009. Lecture Notes in Computer Science(), vol 5579. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02568-6_1
Download citation
DOI: https://doi.org/10.1007/978-3-642-02568-6_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-02567-9
Online ISBN: 978-3-642-02568-6
eBook Packages: Computer ScienceComputer Science (R0)