{"title":"Theoretical methods for planning and control in mobile robotics","authors":"H. Christensen, P. Pirjanian","doi":"10.1109/KES.1997.616855","DOIUrl":null,"url":null,"abstract":"Through adaptation of theoretical techniques from control theory and computer science it becomes possible to provide well posed expert systems for the control of mobile robots. In contrast to other expert systems for mobile robotics the adapted framework enables structured design and verification of implemented systems. This in turn results in a modular system, and a system with a predictable performance. The authors describe how a behaviour based system can be controlled by a rule based expert system, where the interaction between behaviours is described in terms of a process algebra, where different processes are modelled as discrete event systems, and compositions are controlled by a supervisory control-structure. To verify the described framework experimental results obtained with a prototype system are also outlined.","PeriodicalId":166931,"journal":{"name":"Proceedings of 1st International Conference on Conventional and Knowledge Based Intelligent Electronic Systems. KES '97","volume":"84 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1st International Conference on Conventional and Knowledge Based Intelligent Electronic Systems. KES '97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/KES.1997.616855","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 13
Abstract
Through adaptation of theoretical techniques from control theory and computer science it becomes possible to provide well posed expert systems for the control of mobile robots. In contrast to other expert systems for mobile robotics the adapted framework enables structured design and verification of implemented systems. This in turn results in a modular system, and a system with a predictable performance. The authors describe how a behaviour based system can be controlled by a rule based expert system, where the interaction between behaviours is described in terms of a process algebra, where different processes are modelled as discrete event systems, and compositions are controlled by a supervisory control-structure. To verify the described framework experimental results obtained with a prototype system are also outlined.