A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets

Gunhee Kim, Woo Jin Chung, Munsang Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper proposes a selection framework of multiple navigation primitives for a service robot using Generalized Stochastic Petri Nets (GSPN's). By adopting probabilistic approach, our framework helps the robot to select the most desirable navigation primitive in run time through the performance estimation according to environmental conditions. Moreover, after a mission, the robot evaluates prior navigation performance from accumulated data, and uses the results for the improvement of future operations. Modeling, analysis, and performance evaluation are conducted on firm mathematical foundation. Also, GSPN's have several advantages over classic automata or direct use of Markov Process. We conducted simulations of the model derived from our experience of practical installations. The results showed that the framework is useful for primitive selection and performance analysis.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3790-3795
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

Fingerprint

Petri nets
Navigation
Robots
Markov processes

Keywords

  • A guide robot
  • Behavior selection
  • Generalized Stochastic Petri Nets
  • Markov process
  • Mobile robot navigation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Kim, G., Chung, W. J., & Kim, M. (2005). A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 3790-3795). [1570698] https://doi.org/10.1109/ROBOT.2005.1570698

A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets. / Kim, Gunhee; Chung, Woo Jin; Kim, Munsang.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 3790-3795 1570698.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kim, G, Chung, WJ & Kim, M 2005, A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 1570698, pp. 3790-3795, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570698
Kim G, Chung WJ, Kim M. A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005. 2005. p. 3790-3795. 1570698 https://doi.org/10.1109/ROBOT.2005.1570698
Kim, Gunhee ; Chung, Woo Jin ; Kim, Munsang. / A selection framework of multiple navigation primitives using Generalized Stochastic Petri Nets. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. pp. 3790-3795
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