Feedback can reduce the specification complexity of motor programs

Author

Egerstedt, Magnus ; Brockett, Roger

Author_Institution

Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

1651

Abstract

In this paper, we show that, when it is possible to use feedback in the specification of "motor programs" (symbolic strings of instructions that specify particular movements), the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a factor that reflects the richness of the available feedback signals. The model on which this work is based is that of a finite automaton, modified in such a way that instruction processing is akin to the way in which difference or differential equations "process" piecewise-constant inputs

Keywords

computerised control; differential equations; feedback; finite automata; formal specification; motion control; piecewise constant techniques; sequences; difference equations; differential equations; feedback; finite automaton; instruction processing; instruction sequence description length; motor programs; movement specification; piecewise-constant input processing; signal richness; specification complexity; Automata; Automatic testing; Differential equations; Game theory; Machine vision; Output feedback; Robot sensing systems; State feedback; Stochastic processes; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.981138

Filename

981138