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The null-space-based behavioral control for autonomous robotic systems

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Abstract

In this paper a new behavior-based approach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach is compared with the main existing approaches while two experimental case studies, performed with a Khepera II mobile robot, are reported to validate its effectiveness.

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Authors and Affiliations

  1. Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale (DAEIMI), Università degli Studi di Cassino, via G. Di Biasio 43, 03043, Cassino (FR), Italy

    Gianluca Antonelli, Filippo Arrichiello & Stefano Chiaverini

Authors
  1. Gianluca Antonelli
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  2. Filippo Arrichiello
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  3. Stefano Chiaverini
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Corresponding author

Correspondence to Filippo Arrichiello.

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Antonelli, G., Arrichiello, F. & Chiaverini, S. The null-space-based behavioral control for autonomous robotic systems. Intel Serv Robotics 1, 27–39 (2008). https://doi.org/10.1007/s11370-007-0002-3

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  • DOI: https://doi.org/10.1007/s11370-007-0002-3

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