Human Hierarchical Behavior Based Mobile Agent Control in ISpace with Distributed Network Sensors

  • SangJoo Kim
  • TaeSeok Jin
  • Hideki Hashimoto
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4234)


The aim of this paper is to investigate a control framework for mobile robots, operating in shared environment with humans. The Intelligent Space (iSpace) can sense the whole space and evaluate the situations in the space by distributing sensors. The mobile agents serve the inhabitants in the space utilizes the evaluated information by iSpace. The iSpace evaluates the situations in the space and learns the walking behavior of the inhabitants. The human intelligence manifests in the space as a behavior, as a response to the situation in the space. The iSpace learns the behavior and applies to mobile agent motion planning and control. This paper introduces the application of fuzzy-neural network to describe the obstacle avoidance behavior learned from humans. Simulation and experiment results are introduced to demonstrate the efficiency of this method.


Mobile Robot Mobile Agent Obstacle Avoidance Control Framework Virtual Force 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • SangJoo Kim
    • 1
  • TaeSeok Jin
    • 2
  • Hideki Hashimoto
    • 3
  1. 1.Coresystem, Dong-eui Institute of TechnologyBusanKorea
  2. 2.Dept. of Mechatronics EngineeringDongSeo UniversityBusanKorea
  3. 3.IIS, the University of TokyoTokyoJapan

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