Office delivery robot controlled by modular behavior selection networks with planning capability

Young Seol Lee, Sung-Bae Cho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, assistance service using mobile robots becomes one of important issues. Accordingly, studies on controlling the mobile robots are spreading all over the world. In this line of research, we propose a hybrid architecture based on hierarchical planning of modular behavior selection networks for generating autonomous behaviors of the office delivery robot. Behavior selection network is suitable for goal-oriented problems, but it is too difficult to design a monolithic behavior network to deal with complex robot control. We decompose it into several smaller behavior modules and construct sequences of the modules considering the sub-goals, the priority in each task and the user feedback. The feasibility of the proposed method is verified on both the Webot simulator and Khepera II robot in an office environment with delivery tasks. Experimental results confirm that a robot can achieve goals and generatemodule sequences successfully even in unpredictable and changeable situations, and the proposed planning method reduces the elapsed time during tasks by 17.5%.

Original languageEnglish
Title of host publicationInformatics in Control, Automation and Robotics - 9th International Conference, ICINCO 2012, Revised Selected Papers
EditorsJean-Louis Ferrier, Alain Bernard, Oleg Gusikhin, Kurosh Madani
PublisherSpringer Verlag
Pages103-113
Number of pages11
ISBN (Electronic)9783319034997
DOIs
Publication statusPublished - 2014 Jan 1
Event9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012 - Rome, Italy
Duration: 2012 Jul 282012 Jul 31

Publication series

NameLecture Notes in Electrical Engineering
Volume283
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Other

Other9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012
CountryItaly
CityRome
Period12/7/2812/7/31

Fingerprint

Robots
Planning
Mobile robots
Simulators
Feedback

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

Cite this

Lee, Y. S., & Cho, S-B. (2014). Office delivery robot controlled by modular behavior selection networks with planning capability. In J-L. Ferrier, A. Bernard, O. Gusikhin, & K. Madani (Eds.), Informatics in Control, Automation and Robotics - 9th International Conference, ICINCO 2012, Revised Selected Papers (pp. 103-113). (Lecture Notes in Electrical Engineering; Vol. 283). Springer Verlag. https://doi.org/10.1007/978-3-319-03500-0_7
Lee, Young Seol ; Cho, Sung-Bae. / Office delivery robot controlled by modular behavior selection networks with planning capability. Informatics in Control, Automation and Robotics - 9th International Conference, ICINCO 2012, Revised Selected Papers. editor / Jean-Louis Ferrier ; Alain Bernard ; Oleg Gusikhin ; Kurosh Madani. Springer Verlag, 2014. pp. 103-113 (Lecture Notes in Electrical Engineering).
@inproceedings{00181ee53b09465781d7f84f837b29e3,
title = "Office delivery robot controlled by modular behavior selection networks with planning capability",
abstract = "Recently, assistance service using mobile robots becomes one of important issues. Accordingly, studies on controlling the mobile robots are spreading all over the world. In this line of research, we propose a hybrid architecture based on hierarchical planning of modular behavior selection networks for generating autonomous behaviors of the office delivery robot. Behavior selection network is suitable for goal-oriented problems, but it is too difficult to design a monolithic behavior network to deal with complex robot control. We decompose it into several smaller behavior modules and construct sequences of the modules considering the sub-goals, the priority in each task and the user feedback. The feasibility of the proposed method is verified on both the Webot simulator and Khepera II robot in an office environment with delivery tasks. Experimental results confirm that a robot can achieve goals and generatemodule sequences successfully even in unpredictable and changeable situations, and the proposed planning method reduces the elapsed time during tasks by 17.5{\%}.",
author = "Lee, {Young Seol} and Sung-Bae Cho",
year = "2014",
month = "1",
day = "1",
doi = "10.1007/978-3-319-03500-0_7",
language = "English",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "103--113",
editor = "Jean-Louis Ferrier and Alain Bernard and Oleg Gusikhin and Kurosh Madani",
booktitle = "Informatics in Control, Automation and Robotics - 9th International Conference, ICINCO 2012, Revised Selected Papers",
address = "Germany",

}

Lee, YS & Cho, S-B 2014, Office delivery robot controlled by modular behavior selection networks with planning capability. in J-L Ferrier, A Bernard, O Gusikhin & K Madani (eds), Informatics in Control, Automation and Robotics - 9th International Conference, ICINCO 2012, Revised Selected Papers. Lecture Notes in Electrical Engineering, vol. 283, Springer Verlag, pp. 103-113, 9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012, Rome, Italy, 12/7/28. https://doi.org/10.1007/978-3-319-03500-0_7

Office delivery robot controlled by modular behavior selection networks with planning capability. / Lee, Young Seol; Cho, Sung-Bae.

Informatics in Control, Automation and Robotics - 9th International Conference, ICINCO 2012, Revised Selected Papers. ed. / Jean-Louis Ferrier; Alain Bernard; Oleg Gusikhin; Kurosh Madani. Springer Verlag, 2014. p. 103-113 (Lecture Notes in Electrical Engineering; Vol. 283).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Office delivery robot controlled by modular behavior selection networks with planning capability

AU - Lee, Young Seol

AU - Cho, Sung-Bae

PY - 2014/1/1

Y1 - 2014/1/1

N2 - Recently, assistance service using mobile robots becomes one of important issues. Accordingly, studies on controlling the mobile robots are spreading all over the world. In this line of research, we propose a hybrid architecture based on hierarchical planning of modular behavior selection networks for generating autonomous behaviors of the office delivery robot. Behavior selection network is suitable for goal-oriented problems, but it is too difficult to design a monolithic behavior network to deal with complex robot control. We decompose it into several smaller behavior modules and construct sequences of the modules considering the sub-goals, the priority in each task and the user feedback. The feasibility of the proposed method is verified on both the Webot simulator and Khepera II robot in an office environment with delivery tasks. Experimental results confirm that a robot can achieve goals and generatemodule sequences successfully even in unpredictable and changeable situations, and the proposed planning method reduces the elapsed time during tasks by 17.5%.

AB - Recently, assistance service using mobile robots becomes one of important issues. Accordingly, studies on controlling the mobile robots are spreading all over the world. In this line of research, we propose a hybrid architecture based on hierarchical planning of modular behavior selection networks for generating autonomous behaviors of the office delivery robot. Behavior selection network is suitable for goal-oriented problems, but it is too difficult to design a monolithic behavior network to deal with complex robot control. We decompose it into several smaller behavior modules and construct sequences of the modules considering the sub-goals, the priority in each task and the user feedback. The feasibility of the proposed method is verified on both the Webot simulator and Khepera II robot in an office environment with delivery tasks. Experimental results confirm that a robot can achieve goals and generatemodule sequences successfully even in unpredictable and changeable situations, and the proposed planning method reduces the elapsed time during tasks by 17.5%.

UR - http://www.scopus.com/inward/record.url?scp=84927596743&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84927596743&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-03500-0_7

DO - 10.1007/978-3-319-03500-0_7

M3 - Conference contribution

T3 - Lecture Notes in Electrical Engineering

SP - 103

EP - 113

BT - Informatics in Control, Automation and Robotics - 9th International Conference, ICINCO 2012, Revised Selected Papers

A2 - Ferrier, Jean-Louis

A2 - Bernard, Alain

A2 - Gusikhin, Oleg

A2 - Madani, Kurosh

PB - Springer Verlag

ER -

Lee YS, Cho S-B. Office delivery robot controlled by modular behavior selection networks with planning capability. In Ferrier J-L, Bernard A, Gusikhin O, Madani K, editors, Informatics in Control, Automation and Robotics - 9th International Conference, ICINCO 2012, Revised Selected Papers. Springer Verlag. 2014. p. 103-113. (Lecture Notes in Electrical Engineering). https://doi.org/10.1007/978-3-319-03500-0_7