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Fuzzy logic-based formulation of the organizer of intelligent robotic systems

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Abstract

A fuzzy logic-based methodology is proposed to model the organization level of an intelligent robotic system. The user input commands to the system organizer are linguistic in nature and the primitive events-tasks from the task domain of the system are, in general, interpreted via fuzzy sets. Fuzzy relations are introduced to connect every event with a specific user input command. Approximate reasoning is accomplished via a modifier and the compositional rule of inference, whereas the application of the conjunction rule generates those fuzzy sets with elements all possible (crisp) plans. Themost possible plan among all those generated, that is optimal under an application dependent criterion, is chosen and communicated to the coordination level. Off-line feedback information from the lower levels is considered asa-priori known and is used to update all organization level information. An example demonstrates the applicability of the proposed algorithm to intelligent robotic systems.

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Author notes

  1. K. P. Valavanis

    Present address: Center for Advanced Studies, University of SW Louisiana, PO Box 44330, 70504-4330, Lafayette, LA, USA

Authors and Affiliations

  1. Robotics Laboratory, Department of Electrical and Computer Engineering, Northeastern University, 02115, Boston, MA, USA

    H. M. Stellakis & K. P. Valavanis

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  1. H. M. Stellakis
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  2. K. P. Valavanis
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Stellakis, H.M., Valavanis, K.P. Fuzzy logic-based formulation of the organizer of intelligent robotic systems. J Intell Robot Syst 4, 1–24 (1991). https://doi.org/10.1007/BF00452099

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  • DOI: https://doi.org/10.1007/BF00452099

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