Evaluating the Impact of Aggregation Operators on Fuzzy Signatures for Robot Path Planning
Publication Name: Sensors
Publication Date: 2025-12-01
Volume: 25
Issue: 23
Page Range: Unknown
Description:
This study investigates the impact of different aggregation operators (commonly referred to as fuzzy operators) on the application of fuzzy signatures. Fuzzy signatures are specialized multidimensional data structures that symbolically represent data. As a use case, the study focuses on robot environment representation and path planning, presenting the results obtained by applying various aggregation operators including (Formula presented.), (Formula presented.), (Formula presented.) (Formula presented.) and (Formula presented.) (Formula presented.) on the normalized values obtained from the robot sensors. The comparison highlights their effects on the computational load and path lengths of the path planning task. The findings reveal that the most efficient aggregation operator, in terms of computational load and the path length, is the (Formula presented.) (Formula presented.) aggregation operator. Specifically, the (Formula presented.) (Formula presented.) consistently yielded the shortest paths (as low as 22 nodes) and the lowest execution times (down to 0.0913 s), demonstrating superior efficiency compared to the (Formula presented.) operator, which resulted in path lengths up to 34 nodes and execution times reaching 0.1923 s. This represents an improvement of up to 35.3% reduction in path length and 52.5% reduction in execution time when comparing the (Formula presented.) (Formula presented.) to the (Formula presented.) operator based on observed extreme values. Furthermore, this work provides the first empirical comparison of fuzzy aggregation operators specifically for fuzzy signature-based mobile robot path planning.
Open Access: Yes
DOI: 10.3390/s25237342