MORIA: A Robot with Fuzzy Controlled Behaviour

  • Hartmut Surmann
  • Liliane Peters
Part of the Studies in Fuzziness and Soft Computing book series (STUDFUZZ, volume 61)


A new bread of robots is entering our daily life. They clean the floors at airports [1], carry suit-cases in hotels [2] and guide you within a museum [3]. These robots, known as service robots, have four common features. (1) They work within structured environments that are a-priori known. Office environments can be considered structured as they have fixed building elements like: corridors, halls, elevators, rooms, etc. (2) The complexity of the environment is high. Not only do the structured building elements differ from building to building, but also the number of elements within a building is quite high especially if we consider that office buildings can have from two to thirty floors. (3) The environment is highly dynamic. The service robots have to operate together with humans in the same environment. That means sharing the same path and access points from one closed environmental section (corridor) to the next one. The complexity increases even more if the service robots operate in groups. But not only mobile objects reflect the dynamic changes in the environment, static objects like, desks, chairs, and boxes can block or partially occlude parts of known paths. Their appearance and disappearance in the environment can not be foreseen (planned) a priori. (4) The users are technically unskilled personnel. Therefore, not only does the human interface to the robot have to be simple, but an additional source of uncertainty has to be taken into consideration.


Mobile Robot Fuzzy Rule Fuzzy Controller Dynamic Object Service Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Hartmut Surmann
  • Liliane Peters

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