Abstract
Utility fusion is presented as an alternative means of action selection which ameliorates both the bottlenecks of centralised systems and the incoherence of distributed systems. In this approach, distributed behaviours indicate the utility of possible world states, along with their associated uncertainty. A centralised arbiter then combines these utilities and probabilities to determine a Pareto-optimal action based on the maximisation of expected utility. Utility theory provides a Bayesian framework for explicitly representing and reasoning about uncertainty within the action selection process. In addition, the construction of a utility map allows the arbiter to model and compensate for the dynamics of the system; experimental results verify that the resulting system provides significantly greater stability.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Arkin, R. Motor Schema-Based Mobile Robot Navigation. In International Journal of Robotics Research, Vol. 8(4), August 1989, pp. 92–112.
Berger, J. Statistical Decision Theory and Bayesian Analysis, 2nd ed. New York: Springer, 1985.
Borenstein, J. and Koren, Y. Potential Field Methods and Their Inherent Limitations for Mobile Robot Navigation. In Proceedings of the International Conference on Robotics and Automation, 1991.
Brooks, R. A Robust Layered Control System for a Mobile Robot. In IEEE Journal of Robotics and Automation, vol. RA-2, no. 1, pp. 14–23, April 1986.
Brooks, R. Intelligence Without Reason, in proceedings of Twelfth International Joint Conference on Artificial Intelligence, Sydney, Australia, pp. 569–595, August 1991.
Durrant-Whyte, H. Integration, Coordination, and Control of Multi-Sensor Robot Systems (Ph.D.). University of Pennsylvania, Philadelphia, PA, 1986.
Kanayama, Y. and. Miyake, N. Trajectory Generation for Mobile Robots. In Proceedings of 3 rd International Symposium on Robotics Research, pp. 333–340, Gouvieux, France, 1985.
Kelly, A An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem (Ph.D.). Carnegie Mellon University Robotics Institute Technical Report CMU-RI-TR-95-33, 1995.
Langer, D., Rosenblatt, J., and Hebert, M. A Behavior-Based System For Off-Road Navigation. In IEEE Journal of Robotics and Automation, vol. 10(6), December 1994.
Moravec, H. and Elfes, A High Resolution Map From Wide-Angle Sonar. In Proceedings of the IEEE International Conference on Robotics and Automation, pp.116–121, 1985.
Nilsson, N. Shakey the Robot. SRI Tech. Note 323, Menlo Park, Calif., 1984.
Payton, D., Rosenblatt, I, Keirsey, D. Plan Guided Reaction. In IEEE Transactions on Systems Man and Cybernetics, 20(6), pp. 1370–1382, 1990.
Pearl, J. Probabilistic Reasoning in Intelligent Systems: Networks of Plausible Inference. Morgan Kaufmann, 1988.
Pirjanian, P. The Notion of Optimality in Behavior-Based Robotics. To appear in Journal of Robotics and Autonomous Systems, 1999.
Rescher, N. Semantic foundations for the logic of preference. In The Logic of Decision and Action, N. Rescher (ed.), Pittsburgh, PA, 1967.
Rosenblatt, J. The Distributed Architecture for Mobile Navigation. In Journal of Experimental and Theoretical Artificial Intelligence, vol. 9(2/3), April-September, 1997.
Rosenblatt, J. Utility Fusion: Map-Based Planning in a Behavior-Based System, in Field and Service Robotics, Springer-Verlag, 1998.
Rosenblatt, J. and Hendler, J. Architectures for Mobile Robot Control, in Advances in Computers 48, M. Zelkowitz, Ed., Academic Press, London, 1999.
Saffiotti, A, Konolige, K., and Ruspini, E. A multivalued-logic approach to integrating planning and control. In Artificial Intelligence 76(1–2), pp. 481–526, 1995.
Saffiotti, A The Uses of Fuzzy Logic in Autonomous Robotics: a catalogue raisonne, in Soft Computing 1(4):180–197, Springer-Verlag, 1997.
Shafer, S., Stentz, A, and Thorpe, C. An Architecture for Sensor Fusion in a Mobile Robot. In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2002–2011, San Francisco, CA, April, 1986.
Stentz, A The Focussed D* Algorithm for Real-Time Replanning. In Proceedings of the International Joint Conference on Artificial Intelligence, 1995.
Yen, J., Pfluger, N. A Fuzzy Logic Based Robot Navigation System. Proceedings of AAAI Fall Symposium, 1992.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Rosenblatt, J.K. (1999). Maximising Expected Utility for Behaviour Arbitration. In: Foo, N. (eds) Advanced Topics in Artificial Intelligence. AI 1999. Lecture Notes in Computer Science(), vol 1747. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-46695-9_9
Download citation
DOI: https://doi.org/10.1007/3-540-46695-9_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-66822-0
Online ISBN: 978-3-540-46695-6
eBook Packages: Springer Book Archive