Linguistic control of mobile robots

Author

Egerstedt, M. Agnus

Author_Institution

Div. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

877

Abstract

We study the interactions between symbolic computer programs and mechanical devices, e.g. mobile robots. We show that by using motion description languages for generating continuous motions from symbolic input strings, this interaction between the continuous and the discrete can be given a meaningful control theoretic interpretation. We furthermore illustrate how robot behaviors can be learned within this framework. We also investigate how to choose the motion description languages in order to minimize the lengths of the inputs to the robots

Keywords

closed loop systems; computational complexity; continuous time systems; discrete time systems; formal languages; learning (artificial intelligence); mobile robots; path planning; robot kinematics; continuous motions; control theoretic interpretation; linguistic control; mobile robots; motion description languages; robot behaviors; symbolic computer programs; symbolic input strings; Concrete; Control systems; Floors; Machine tools; Mobile robots; Motion control; Motor drives; Navigation; Real time systems; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976279

Filename

976279