{"title":"模块化分散机器人控制","authors":"Arthur G. O. Mutambara, H. Durrant-Whyte","doi":"10.1109/IVS.1993.697305","DOIUrl":null,"url":null,"abstract":"This paper addresses the design, verification and implementation of a fully decentralized Linear Quadratic Gaussian (LQG) control system based on transputer architecture. The existing algorithms of a fully decentralized sensing architecture are extended to deal with linear control problems in general and specifically in the area of motor actuation for a modular, decentralized navigating robot.","PeriodicalId":283697,"journal":{"name":"Proceedings of the Intelligent Vehicles '93 Symposium","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Modular Decentralized Robot Control\",\"authors\":\"Arthur G. O. Mutambara, H. Durrant-Whyte\",\"doi\":\"10.1109/IVS.1993.697305\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper addresses the design, verification and implementation of a fully decentralized Linear Quadratic Gaussian (LQG) control system based on transputer architecture. The existing algorithms of a fully decentralized sensing architecture are extended to deal with linear control problems in general and specifically in the area of motor actuation for a modular, decentralized navigating robot.\",\"PeriodicalId\":283697,\"journal\":{\"name\":\"Proceedings of the Intelligent Vehicles '93 Symposium\",\"volume\":\"35 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-07-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the Intelligent Vehicles '93 Symposium\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IVS.1993.697305\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Intelligent Vehicles '93 Symposium","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IVS.1993.697305","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This paper addresses the design, verification and implementation of a fully decentralized Linear Quadratic Gaussian (LQG) control system based on transputer architecture. The existing algorithms of a fully decentralized sensing architecture are extended to deal with linear control problems in general and specifically in the area of motor actuation for a modular, decentralized navigating robot.
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