Fuzzy discrete event system based behavior modulation in mobile robotics
Bibliographic record
Abstract
This paper presents a novel behavior modulation technique using fuzzy discrete event system (FDES) for mobile robots. The algorithm exploits the multi-valued feature of fuzzy logic (FL) and event-driven property of discrete event system (DES). Desirability (activity) of a behavior is expressed in terms of a fuzzy state vector. State-based prediction of the desirability is accomplished using fuzzy event matrices. A central arbiter employs priority based arbitration among the desirability state vectors and recommends new event matrices to modify the desirability states of the behaviors. The algorithm combines aspects of both command fusion and behavior arbitration. Furthermore, the proposed approach constitutes state-based observability and controllability to cope with the uncertainties of sensory data and dynamic environment. Simulation results of FDES-based mobile robot navigation are also presented to validate the performance of the proposed algorithm.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 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 teacher head, 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".