Khaled Ben Lamine

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Mobile robot control remains a difficult challenge in changing and unpredictable environments. Reacting to unanticipated events, interacting and coordinating with other agents, and acquiring information about the world remain difficult problems. These actions should be the direct products of the robot's capabilities to perceive, act, and process information(More)
Behavior-based robot control systems have shown remarkable success for controlling robots evolving in real world environments. However they can fail in different manners due to their distributed control and their local decision making. In this case, monitoring can be used to detect failures and help to recover from them. In this work, we present an approach(More)
This paper presents a model and an implementation of a runtime environment for specifying and monitoring properties of behavior-based robot control systems. The proposed approach supports collecting events that are recorded and examined at run-time. Temporal fuzzy logic is used as a formal language for specifying behaviors properties and new semantics are(More)
Behavior-based robot programs are designed by splitting the overall robot decision making process among concurrent processes, each of them being in charge of a well defined simple goal-oriented behavior. However, the combination of simple behaviors into more complex ones often incur global interactions that cannot be debugged by just considering individual(More)
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