Behavior-based Robot Control Using Fuzzy Discrete Event System
Bibliographic record
Abstract
This paper presents a novel behavior-based approach for mobile robot control using Fuzzy Discrete Event System (FDES). The method exploits the multi-valued feature of Fuzzy Logic (FL) and event-driven property of Discrete Event System (DES) to define activity of each behavior using fuzzy state vectors. State-based prediction of activity is accomplished using fuzzily defined event matrices. The method combines aspects of both command fusion and behavior arbitration. Furthermore, the proposed approach has the ability to define state-based observability and controllability to handle sensor uncertainty and environment dynamics. Observability describes decision vagueness associated with sensory data, whereas controllability specifies undesirable state-reach within the observed environment. The present work employs observability and controllability to modify the velocity commands and the sampling frequency depending on decision vagueness and undesirable state-reach. Real-time results of FDES-based mobile robot navigation are presented to validate the performance of the proposed method.
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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 | 0.001 | 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 | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 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".