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Uflibrary: A simulation library implementing the utility function in autonomous robots

J. Pettersson ; Mattias Wahde (Institutionen för tillämpad mekanik)
International Journal on Artificial Intelligence Tools (0218-2130). Vol. 16 (2007), 3, p. 507-536.
[Artikel, refereegranskad vetenskaplig]

A simulation software package (UF Library) implementing the utility function (UF) method for behavior selection in autonomous robots, is introduced and described by means of an example involving a simple exploration robot equipped with a repertoire of five different behaviors. The UF Library (as indeed the UF method itself) is aimed at providing a rapid yet reliable and generally applicable procedure for generating behavior selection systems for autonomous robots, while at the same time minimizing the amount of hand-coding related to the activation of behaviors. It is demonstrated how the UF Library allows a user to rapidly implement individual behaviors and to set up and carry out simulations of a robot in its arena, in order to generate and optimize, by means of an evolutionary algorithm,the behavior selection system of the robot.

Nyckelord: behavior-based robotics, utility function, behavioral organization, autonomous robots, evolutionary robotics, BEHAVIORAL ORGANIZATION

Denna post skapades 2009-01-19.
CPL Pubid: 88489


Institutioner (Chalmers)

Institutionen för tillämpad mekanik


Teknisk mekanik

Chalmers infrastruktur