A general constraint-based control framework with examples in modular self-reconfigurable robots

In this paper, we advocate a general constraint-based control framework that is highly promising for building control systems with complex dynamic structures, such as modular self-reconfigurable robots. In this framework, a controller consists of constraint solving components distributed in a network of embedded processors. Constraint solvers are goal oriented deliberative agents that can be used as control regulators or as information retrievers. The framework is built on the attribute/service model (ASM), a middleware for coordinating actuators, sensors and tasks in distributed real-time embedded systems. The communications and coordination among the services are realized via shared attributes. Examples of controlling a modular self-reconfigurable robot are illustrated in the paper.