Intelligent, evolutionary, hybrid, PDE-ODE controller for navigation in unknown environments

Ahmad A. Masoud*, Samer A. Masoud

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review


This paper discusses the construction of a Hybrid Control Structure that would enable an agent to operate in an unknown, stationary environment. The control structure has an evolutionary nature that allows for Autonomous Structural Adaptation of the control relying only on a sequential acquired sensory input as a source of information. It also has the ability to integrate any available a priori information in its database regardless of its fragmentation or sparsity in the planning process to accelerate convergence. The structure is based on a bottom-up approach to behavior synthesis that allows the integration of experience along with synergy as drivers of the action selection process. Theoretical development of the structure, a realization, and simulation results are provided.

Original languageEnglish
Number of pages5
StatePublished - 1998

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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