A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets

Gunhee Kim; Woojin Chung; Munsang Kim

doi:10.1109/ROBOT.2005.1570698

A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets

Gunhee Kim, Woojin Chung, Munsang Kim

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

Abstract

This paper proposes a selection framework of multiple navigation primitives for a service robot using Generalized Stochastic Petri Nets (GSPN's). By adopting probabilistic approach, our framework helps the robot to select the most desirable navigation primitive in run time through the performance estimation according to environmental conditions. Moreover, after a mission, the robot evaluates prior navigation performance from accumulated data, and uses the results for the improvement of future operations. Modeling, analysis, and performance evaluation are conducted on firm mathematical foundation. Also, GSPN's have several advantages over classic automata or direct use of Markov Process. We conducted simulations of the model derived from our experience of practical installations. The results showed that the framework is useful for primitive selection and performance analysis.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	3790-3795
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570698
Publication status	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	05/4/18 → 05/4/22

Keywords

A guide robot
Behavior selection
Generalized Stochastic Petri Nets
Markov process
Mobile robot navigation

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570698

Cite this

Kim, G., Chung, W., & Kim, M. (2005). A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 3790-3795). Article 1570698 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570698

A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets. / Kim, Gunhee; Chung, Woojin; Kim, Munsang.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 3790-3795 1570698 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, G, Chung, W & Kim, M 2005, A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570698, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 3790-3795, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570698

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A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets

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Keywords

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