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Transforming high level tasks to low...

University of Pennsylvania.

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Transforming high level tasks to low level controllers.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Transforming high level tasks to low level controllers./
作者:	Kress-Gazit, Hadas.
面頁冊數:	214 p.
附註:	Adviser: George J. Pappas.
Contained By:	Dissertation Abstracts International69-09B.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoeng/servlet/advanced?query=3328604
ISBN:	9780549805267

Transforming high level tasks to low level controllers.
Kress-Gazit, Hadas.

Transforming high level tasks to low level controllers. - 214 p.

Adviser: George J. Pappas.

Thesis (Ph.D.)--University of Pennsylvania, 2008.

A major goal in robotics is to develop machines that perform useful tasks with minimal supervision. Instead of requiring each small detail to be specified, one would like to describe the task at a high level, and have the system autonomously execute it correctly.

ISBN: 9780549805267Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Transforming high level tasks to low level controllers.
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520 $a A major goal in robotics is to develop machines that perform useful tasks with minimal supervision. Instead of requiring each small detail to be specified, one would like to describe the task at a high level, and have the system autonomously execute it correctly.
520 $a The work presented in this thesis addresses some of the challenges of creating autonomous systems that perform complex tasks while providing guarantees for correct behavior. Here, tasks defined using the formalism of temporal logic are automatically translated into controllers that drive a robot or group of robots and activate the different robot actions such that the task is completed, if it is feasible. The approach presented is correct by construction, it is complete in the sense that if under specific assumptions the task can be done, a controller will be created and it is sound, that is, if the task cannot be accomplished the algorithms return that it is infeasible and no controller is created.
520 $a The approach to generating such controllers comprises of three steps. First, the task itself is described; This description captures the required behavior as well as relevant information about the robot capabilities such as actions and sensors, and the environment in which the robot is operating. This step transforms a generally continuous problem into a discrete one by creating abstractions of the different task components. The next step is to find a discrete solution for the problem, a discrete plan, that if followed the robot is guaranteed to achieve the discrete behavior required of it. The final step is to return to the original continuous problem by transforming the discrete plan to a hybrid controller that switches between a set of atomic controllers or control primitives that provide continuous local guarantees for the behavior of the robot.
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