Performance measurement under increasing environmental uncertainty in the context of interval type-2 fuzzy logic based robotic sailing

Benatar, Naisan; Aickelin, Uwe; Garibaldi, Jonathan M.

Abstract

Performance measurement of robotic controllers based on fuzzy logic, operating under uncertainty, is a subject area which has been somewhat ignored in the current literature. In this paper standard measures such as RMSE are shown to be inappropriate for use under conditions where the environmental uncertainty changes significantly between experiments. An overview of current methods which have been applied by other authors is presented, followed by a design of a more sophisticated method of comparison. This method is then applied to a robotic control problem to observe its outcome compared with a single measure. Results show that the technique described provides a more robust method of performance comparison than less complex methods allowing better comparisons to be drawn.

Citation

Benatar, N., Aickelin, U., & Garibaldi, J. M. Performance measurement under increasing environmental uncertainty in the context of interval type-2 fuzzy logic based robotic sailing.

• Conference Name: IEEE International Conference on Fuzzy Systems 2013 (Fuzz-IEEE 2013)
• End Date: Jul 10, 2013
• Deposit Date: Sep 29, 2014
• Peer Reviewed: Peer Reviewed
• Keywords: Fuzzy, Logic
• Public URL: https://nottingham-repository.worktribe.com/output/1002954
• Publisher URL: http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=6622441
• Additional Information: Published in: IEEE International Conference on Fuzzy Systems (FUZZ) 2013 (ISBN: 9781479900206 ; doi: 10.1109/FUZZ-IEEE.2013.6622441 ). © IEEE.