A multi-agent system based on active vision and ultrasounds applied to fuzzy behavior based navigation
Bibliographic record
Abstract
In this paper, we present a multi-agent system that uses both visual and range sensors information to achieve a safe and efficient behavior-based navigation. The system uses a topological map of an indoor office-like environment and it is based on fuzzy behaviors, providing to the robot the ability to find doors in rooms. The system is formed by distributed agents that can establish communication among themselves. We use both reactive and deliberative agents and we have carried out a modular design of the system to facilitate its posterior expansion by adding new skills or new agents. Also, the use of a multi-agent system allows us to achieve a more robust performance of the robot. Regarding the behaviors, they have been designed using fuzzy rules to set the appropriate relationship between the input data and the control values to apply to the robot actuators. The system has been implemented in a Nomad 200 mobile robot and has been validated in numerous tests in a read office-like environment
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".