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A Selection Framework of Multiple Navigation Primitives Using Generalized Stochastic Petri Nets

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3 Author(s)
Gunhee Kim ; Intelligent Robotics Research Center Korea Institute of Science and Technology 39-1 Hawolgok-dong, Sungbuk-ku, Seoul, 136-791, Korea; ; Woojin Chung ; Munsang Kim

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.

Published in:

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

Date of Conference:

18-22 April 2005