Self-Reconfigurable Robotics Architecture Utilizing Fuzzy and Deliberative Reasoning

Shaukat, A, Burroughes, G and Gao, Y (2015) Self-Reconfigurable Robotics Architecture Utilizing Fuzzy and Deliberative Reasoning In: SAI Intelligent Systems Conference, 2015-11-10 - 2015-11-11, London, UK.

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Abstract

This paper proposes a generic approach towards combining fuzzy logic and ontology-based deliberative reasoning to enable self-reconfigurability within a distributed system architecture. An Ontology-based rational agent uses outputs from a fuzzy inference system (reconfiguration layer) which passively monitors the performance of the lower-level sub-systems (application layer) in order to perform system reconfiguration. A reconfiguration is required to guarantee optimal performance within a complex robotics architecture when anomalous system and environmental changes take place. More importantly, this process of reconfiguration offers greater fault tolerance and reliability in novel scenarios as compared to isolated engineered systems. The current research work will apply the proposed framework to a visual navigation system for autonomous planetary rover missions. This demonstrates the method's success through an increase in system performance following a reconfiguration routine carried out within the application layer between two different types of visual navigation methods. Experimental analysis is carried out using real-world data, concluding that the proposed reconfigurable architecture gives superior performance against standard engineered techniques.

Item Type:	Conference or Workshop Item (Conference Paper)
Subjects :	Electronic Engineering
Divisions :	Surrey research (other units)
Authors :	Name Email ORCID Shaukat, A a.shaukat@surrey.ac.uk Burroughes, G Gao, Y yang.gao@surrey.ac.uk
Date :	2015
DOI :	10.1109/IntelliSys.2015.7361152
Copyright Disclaimer :	© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
Contributors :	Contribution Name Email ORCID publisher IEEE,
Depositing User :	Symplectic Elements
Date Deposited :	17 May 2017 13:53
Last Modified :	23 Jan 2020 18:55
URI:	http://epubs.surrey.ac.uk/id/eprint/840696

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