Subjective Trusts for the Control of Mobile Robots under Uncertainty

Abstract

The paper deals with the methods of handling imperfect information and the control of mobile robots acting under uncertainty. It is assumed that the robots act in autonomous regime and are controlled internally without referring the externally defined probabilities of the states and actions. To control the activity of the robots, we suggest the novel multi-valued logic techniques based on the recently developed measures, known as the subjective trusts. In addition to specification of the robots’ movements, such a technique allows for direct definition of the robots’ swarming using the methods of artificial neural networks with mobile neurons. The suggested methods are verified by numerical simulations and running examples. The resulting framework forms a basis for processing non-probabilistic uncertainties and making individual decisions with imperfect information.

Keywords

• subjective trust
• mobile robot
• mobile neuron
• swarm
• control