{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,4]],"date-time":"2022-04-04T20:16:29Z","timestamp":1649103389504},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2015,6,19]],"date-time":"2015-06-19T00:00:00Z","timestamp":1434672000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2017,2]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a method to calculate the fusing rule among three reactive behaviors, Wall Following, Corridor Following and Door Crossing, from place characterization for robot navigation. The technique is supported by a local grid of the closest area to the robot, which is built from sonar readings. The contour of this grid is extracted, represented by its<jats:italic>FFT<\/jats:italic>and, finally, it is reduced to a short feature vector with a principal component analysis (PCA). This feature vector is used to decide the fusing rule among the three behaviors. The algorithm is very fast in terms of its time performance, being then valid to be used in robot navigation, since the robot would rapidly react to new situations. It has also been successfully tested in simulated and real environments, with a Pioneer robot equipped with eight frontal sonar sensors, both in manually driven tasks and autonomous navigation tasks, proving its feasibility and effectiveness.<\/jats:p>","DOI":"10.1017\/s0263574715000478","type":"journal-article","created":{"date-parts":[[2015,6,19]],"date-time":"2015-06-19T13:18:49Z","timestamp":1434719929000},"page":"254-270","source":"Crossref","is-referenced-by-count":0,"title":["PCA-based method to fuse behaviors from place characterization for robot navigation"],"prefix":"10.1017","volume":"35","author":[{"given":"Alberto","family":"Poncela","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,6,19]]},"reference":[{"key":"S0263574715000478_ref21","doi-asserted-by":"crossref","first-page":"1055","DOI":"10.1163\/156855312X633093","article-title":"Novel sonar salient feature structure for extended kalman filter-based simultaneous localization and mapping of mobile robots","volume":"26","author":"Lee","year":"2012","journal-title":"Adv. Robot."},{"key":"S0263574715000478_ref13","doi-asserted-by":"crossref","unstructured":"A. Pronobis , B. Caputo , P. Jensfelt and H. I. Christensen , \u201cA Discriminative Approach to Robust Visual Place Recognition,\u201d Proceedings of the 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, China (Oct., 2006) pp. 3829\u20133836.","DOI":"10.1109\/IROS.2006.281789"},{"key":"S0263574715000478_ref8","doi-asserted-by":"crossref","unstructured":"S. Parasuraman , V. Ganapathy and B. Shirinzadeh , \u201cBehaviour Based Mobile Robot Navigation Technique for Real World Environments using Fuzzy Logic System,\u201d Proceedings of the 2004 IEEE International Conference on Systems, Man and Cybernetics, Netherlands (2004) pp. 3359\u20133364.","DOI":"10.1109\/ICSMC.2004.1400861"},{"key":"S0263574715000478_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2189497"},{"key":"S0263574715000478_ref12","doi-asserted-by":"crossref","unstructured":"Q. V. Do and L. C. Jain , \u201cA Visual Landmark Recognition System for Autonomous Robot Navigation,\u201d Proceedings of the International Conference on Computational Intelligence for Modelling Control and Automation, Sydney, Australia (2006) pp. 237\u2013242.","DOI":"10.1109\/CIMCA.2006.32"},{"key":"S0263574715000478_ref18","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2013.839091"},{"key":"S0263574715000478_ref5","doi-asserted-by":"crossref","unstructured":"D. Gu and H. Hu , \u201cTeaching Robots to Coordinate its Behaviours,\u201d Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), Nueva Orleans, USA (Apr., 2004) pp. 3721\u20133726.","DOI":"10.1109\/ROBOT.2004.1308842"},{"key":"S0263574715000478_ref24","unstructured":"H. Tamini and A. Zell , \u201cVision Based Localization of Mobile Robots using Kernel Approaches,\u201d Proceedings of the 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), Sendai, Japan (Sep.\u2013Oct., 2004) pp. 1896\u20131901."},{"key":"S0263574715000478_ref19","first-page":"61","article-title":"Sensor fusion in certainty grids for mobile robots","volume":"9","author":"Moravec","year":"1988","journal-title":"AI Mag."},{"key":"S0263574715000478_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2003.816846"},{"key":"S0263574715000478_ref6","doi-asserted-by":"crossref","unstructured":"N. Rahman and A. R. Jafri , \u201cTwo Layered Behaviour Based Navigation of a Mobile Robot in an Unstructured Environment using Fuzzy Logic,\u201d Proceedings of the IEEE 2005 International Conference on Emerging Technologies, Islamabad, Pakistan (Sep. 2005) pp. 230\u2013235.","DOI":"10.1109\/ICET.2005.1558886"},{"key":"S0263574715000478_ref31","doi-asserted-by":"publisher","DOI":"10.1021\/ci034001x"},{"key":"S0263574715000478_ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s00500-005-0014-x"},{"key":"S0263574715000478_ref15","unstructured":"O. Mart\u00ednez , C. Stachniss and W. Burgard , \u201cSupervised Learning of Places from Range Data using Adaboost,\u201d Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain (Apr., 2005) pp. 1730\u20131735."},{"key":"S0263574715000478_ref14","doi-asserted-by":"crossref","unstructured":"M. Larbi and B. Aek , \u201cMobile Robot Recognition using Bayesian Penalization with Neural approach,\u201d Proceedings of the 2005 ISSC Congress on Computational Intelligence Methods and Applications, Istanbul, Turkey (Dec., 2005).","DOI":"10.1109\/CIMA.2005.1662322"},{"key":"S0263574715000478_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(98)00013-X"},{"key":"S0263574715000478_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2009.2013191"},{"key":"S0263574715000478_ref17","doi-asserted-by":"crossref","unstructured":"P. Sousa , R. Ara\u00fajo and U. Nunes , \u201cReal-Time Labeling of Places using Support Vector Machines,\u201d Proceedings of the 2007 International Symposium on Industrial Electronics (ISIE 2007), Vigo, Spain (Jun., 2007).","DOI":"10.1109\/ISIE.2007.4374918"},{"key":"S0263574715000478_ref23","doi-asserted-by":"crossref","unstructured":"H. Zhang , S. Liu and S. X. Yang , \u201cA Hybrid Robot Navigation Approach Based on Partial Planning and Emotion-Based Behavior Coordination,\u201d Proceedings of the 2006 IEEE\/RSJ Interantional Conference on Intelligent Robots and Systems (IROS 2006), Beijing, China (Oct., 2006) pp. 1183\u20131188.","DOI":"10.1109\/IROS.2006.281851"},{"key":"S0263574715000478_ref9","doi-asserted-by":"crossref","unstructured":"S. Khatoon and S. Khatoon , \u201cBehavior Coordination of Autonomous Mobile Robot Navigation by Neuro-Fuzzy System,\u201d Proceedings of the IEEE 31st Annual Northeast Bioengineering Conference, USA (Apr., 2005) pp. 56\u201360.","DOI":"10.1109\/NEBC.2005.1431924"},{"key":"S0263574715000478_ref28","doi-asserted-by":"crossref","unstructured":"N. I. Giannoccaro and L. Spedicato , \u201cA PCA-Based Interpretation of Ultrasonic Data for Accurately Detecting a Corridor Wall,\u201d Proceedings of the 9th International Multi-Conference on Systems, Signals and Devices, Chemnitz, Germany (Mar., 2012) pp. 1\u20136.","DOI":"10.1109\/SSD.2012.6197922"},{"key":"S0263574715000478_ref10","doi-asserted-by":"crossref","unstructured":"M. F. Selekwa , D. D. Dunlap and E. G. Collins , \u201cImplementation of Multi-Valued Fuzzy Behavior Control for Robot Navigation in Cluttered Environments,\u201d Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain (Apr., 2005) pp. 3688\u20133695.","DOI":"10.1109\/ROBOT.2005.1570682"},{"key":"S0263574715000478_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2003.817034"},{"key":"S0263574715000478_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004887"},{"key":"S0263574715000478_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9340-5"},{"key":"S0263574715000478_ref29","doi-asserted-by":"crossref","unstructured":"X. Qu , M. Yao , Q. Gu and J. Zhang , \u201cAdaptive Subspace Base Online PCA Algorithm for Mobile Robot Scene Learning and Recognition,\u201d Proceedings of the 2011 International Conference on Intelligent Human-Machine Systems and Cybernetics, Hangzhou, China (Aug., 2011) pp. 205\u2013209.","DOI":"10.1109\/IHMSC.2011.56"},{"key":"S0263574715000478_ref16","doi-asserted-by":"crossref","unstructured":"L. Shi , S. Kodagoda and G. Dissanayake , \u201cLaser Range Data Based Semantic Labeling of Places,\u201d Proceedings of the 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan (Oct., 2010) pp. 5941\u20135946.","DOI":"10.1109\/IROS.2010.5650387"},{"key":"S0263574715000478_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/3468.995537"},{"key":"S0263574715000478_ref1","volume-title":"Behavior-Based Robotics","author":"Arkin","year":"1998"},{"key":"S0263574715000478_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/3477.956029"},{"key":"S0263574715000478_ref27","doi-asserted-by":"crossref","unstructured":"N. Vlassis , Y. Motomura and B. Krose , \u201cSupervised Linear Feature Extraction for Mobile Robot Localization,\u201d Proceedings of the 2000 IEEE International Conference on Robotics and Automation (ICRA 2000), San Francisco, USA (Apr., 2000) pp. 2979\u20132984.","DOI":"10.1109\/ROBOT.2000.846480"},{"key":"S0263574715000478_ref2","doi-asserted-by":"publisher","DOI":"10.1080\/095281397147149"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574715000478","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,9,3]],"date-time":"2020-09-03T21:28:46Z","timestamp":1599168526000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574715000478\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,6,19]]},"references-count":32,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2017,2]]}},"alternative-id":["S0263574715000478"],"URL":"https:\/\/doi.org\/10.1017\/s0263574715000478","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,6,19]]}}}